2025-12-06T21:43:09.616Z,1765057389.616 [Supervisor](DEBUG): Initializing supervisor.
2025-12-06T21:43:09.621Z,1765057389.621 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2025-12-06T21:43:09.621Z,1765057389.621 [SyncHandler](INFO): Protected caller Thread ID is 1021
2025-12-06T21:43:09.622Z,1765057389.622 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2025-12-06T21:43:09.623Z,1765057389.623 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2025-12-06T21:43:09.623Z,1765057389.623 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1022
2025-12-06T21:43:09.627Z,1765057389.627 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2025-12-06T21:43:09.648Z,1765057389.648 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2025-12-06T21:43:09.649Z,1765057389.649 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2025-12-06T21:43:09.649Z,1765057389.649 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1023
2025-12-06T21:43:09.653Z,1765057389.653 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2025-12-06T21:43:09.654Z,1765057389.654 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2025-12-06T21:43:09.655Z,1765057389.655 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1024
2025-12-06T21:43:09.657Z,1765057389.657 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2025-12-06T21:43:09.658Z,1765057389.658 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2025-12-06T21:43:09.658Z,1765057389.658 [logger ThreadHandler](INFO): Protected caller Thread ID is 1025
2025-12-06T21:43:09.662Z,1765057389.662 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2025-12-06T21:43:09.662Z,1765057389.662 [Supervisor](INFO): Looking for Config files in directory: Config/
2025-12-06T21:43:09.664Z,1765057389.664 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2025-12-06T21:43:09.998Z,1765057389.998 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2025-12-06T21:43:09.998Z,1765057389.998 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2025-12-06T21:43:10.748Z,1765057390.748 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2025-12-06T21:43:10.749Z,1765057390.749 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2025-12-06T21:43:10.868Z,1765057390.868 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2025-12-06T21:43:10.868Z,1765057390.868 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2025-12-06T21:43:11.400Z,1765057391.400 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2025-12-06T21:43:11.400Z,1765057391.400 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2025-12-06T21:43:11.505Z,1765057391.505 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2025-12-06T21:43:11.505Z,1765057391.505 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2025-12-06T21:43:11.604Z,1765057391.604 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Guidance
2025-12-06T21:43:11.605Z,1765057391.605 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2025-12-06T21:43:12.020Z,1765057392.020 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2025-12-06T21:43:12.021Z,1765057392.021 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2025-12-06T21:43:12.249Z,1765057392.249 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2025-12-06T21:43:12.249Z,1765057392.249 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2025-12-06T21:43:12.394Z,1765057392.394 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2025-12-06T21:43:12.395Z,1765057392.395 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2025-12-06T21:43:12.652Z,1765057392.652 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2025-12-06T21:43:12.652Z,1765057392.652 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2025-12-06T21:43:13.209Z,1765057393.209 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2025-12-06T21:43:13.209Z,1765057393.209 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2025-12-06T21:43:13.610Z,1765057393.610 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2025-12-06T21:43:13.611Z,1765057393.611 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2025-12-06T21:43:13.699Z,1765057393.699 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2025-12-06T21:43:13.888Z,1765057393.888 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2025-12-06T21:43:13.888Z,1765057393.888 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2025-12-06T21:43:14.194Z,1765057394.194 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2025-12-06T21:43:14.194Z,1765057394.194 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2025-12-06T21:43:15.016Z,1765057395.016 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2025-12-06T21:43:15.018Z,1765057395.018 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-brizo/
2025-12-06T21:43:15.019Z,1765057395.019 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Control.cfg
2025-12-06T21:43:15.296Z,1765057395.296 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Sensor.cfg
2025-12-06T21:43:15.567Z,1765057395.567 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Simulator.cfg
2025-12-06T21:43:15.661Z,1765057395.661 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/secure.cfg
2025-12-06T21:43:15.753Z,1765057395.753 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Servo.cfg
2025-12-06T21:43:15.872Z,1765057395.872 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/workSite.cfg
2025-12-06T21:43:15.972Z,1765057395.972 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Dock.cfg
2025-12-06T21:43:16.092Z,1765057396.092 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/vehicle.cfg
2025-12-06T21:43:16.204Z,1765057396.204 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Battery.cfg
2025-12-06T21:43:16.478Z,1765057396.478 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2025-12-06T21:43:16.478Z,1765057396.478 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Science.cfg
2025-12-06T21:43:16.618Z,1765057396.618 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/logger.cfg
2025-12-06T21:43:16.719Z,1765057396.719 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/BIT.cfg
2025-12-06T21:43:16.822Z,1765057396.822 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Navigation.cfg
2025-12-06T21:43:16.915Z,1765057396.915 [Supervisor](IMPORTANT): Reloading configuration overrides from Data/persisted.cfg
2025-12-06T21:43:16.926Z,1765057396.926 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2025-12-06T21:43:17.060Z,1765057397.060 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2025-12-06T21:43:17.061Z,1765057397.061 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2025-12-06T21:43:17.071Z,1765057397.071 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2025-12-06T21:43:17.072Z,1765057397.072 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2025-12-06T21:43:17.123Z,1765057397.123 [DepthRateCalculator] Loaded
2025-12-06T21:43:17.123Z,1765057397.123 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2025-12-06T21:43:17.129Z,1765057397.129 [PitchRateCalculator] Loaded
2025-12-06T21:43:17.129Z,1765057397.129 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2025-12-06T21:43:17.140Z,1765057397.140 [SpeedCalculator] Loaded
2025-12-06T21:43:17.140Z,1765057397.140 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2025-12-06T21:43:17.145Z,1765057397.145 [YawRateCalculator] Loaded
2025-12-06T21:43:17.145Z,1765057397.145 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2025-12-06T21:43:17.167Z,1765057397.167 [ElevatorOffsetCalculator] Loaded
2025-12-06T21:43:17.167Z,1765057397.167 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2025-12-06T21:43:17.168Z,1765057397.168 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2025-12-06T21:43:17.168Z,1765057397.168 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2025-12-06T21:43:17.221Z,1765057397.221 [VerticalControl](DEBUG): Construct VerticalControl.
2025-12-06T21:43:17.278Z,1765057397.278 [VerticalControl] Loaded
2025-12-06T21:43:17.278Z,1765057397.278 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2025-12-06T21:43:17.281Z,1765057397.281 [HorizontalControl](DEBUG): Construct HorizontalControl.
2025-12-06T21:43:17.328Z,1765057397.328 [HorizontalControl] Loaded
2025-12-06T21:43:17.328Z,1765057397.328 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2025-12-06T21:43:17.330Z,1765057397.330 [SpeedControl](DEBUG): Construct SpeedControl.
2025-12-06T21:43:17.333Z,1765057397.333 [SpeedControl] Loaded
2025-12-06T21:43:17.333Z,1765057397.333 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2025-12-06T21:43:17.336Z,1765057397.336 [LoopControl](DEBUG): Construct LoopControl.
2025-12-06T21:43:17.337Z,1765057397.337 [LoopControl] Loaded
2025-12-06T21:43:17.337Z,1765057397.337 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2025-12-06T21:43:17.337Z,1765057397.337 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2025-12-06T21:43:17.338Z,1765057397.338 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2025-12-06T21:43:17.452Z,1765057397.452 [DeadReckonUsingMultipleVelocitySources] Loaded
2025-12-06T21:43:17.452Z,1765057397.452 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2025-12-06T21:43:17.466Z,1765057397.466 [NavChart] Loaded
2025-12-06T21:43:17.466Z,1765057397.466 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2025-12-06T21:43:17.472Z,1765057397.472 [UniversalFixResidualReporter] Loaded
2025-12-06T21:43:17.472Z,1765057397.472 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2025-12-06T21:43:17.473Z,1765057397.473 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2025-12-06T21:43:17.473Z,1765057397.473 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2025-12-06T21:43:17.649Z,1765057397.649 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2025-12-06T21:43:17.650Z,1765057397.650 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2025-12-06T21:43:18.145Z,1765057398.145 [AHRS_M2] Loaded
2025-12-06T21:43:18.145Z,1765057398.145 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2025-12-06T21:43:18.184Z,1765057398.184 [BackseatComponent] Loaded
2025-12-06T21:43:18.184Z,1765057398.184 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2025-12-06T21:43:18.185Z,1765057398.185 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409404E0
2025-12-06T21:43:18.186Z,1765057398.186 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 1113
2025-12-06T21:43:18.189Z,1765057398.189 [LcmPublisher](INFO): Full slate access is ENABLED. All requested slate values (including non-universals) will be published on LCM.
2025-12-06T21:43:18.189Z,1765057398.189 [LcmPublisher] Loaded
2025-12-06T21:43:18.189Z,1765057398.189 [ComponentRegistry](DEBUG): SyncComponent "LcmPublisher" handled in the control thread.
2025-12-06T21:43:19.020Z,1765057399.020 [BPC1] Loaded
2025-12-06T21:43:19.020Z,1765057399.020 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2025-12-06T21:43:19.119Z,1765057399.119 [DAT] Loaded
2025-12-06T21:43:19.119Z,1765057399.119 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2025-12-06T21:43:19.120Z,1765057399.120 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 409704E0
2025-12-06T21:43:19.121Z,1765057399.121 [DAT ThreadHandler](INFO): Protected caller Thread ID is 1114
2025-12-06T21:43:19.192Z,1765057399.192 [DataOverHttps] Loaded
2025-12-06T21:43:19.192Z,1765057399.192 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2025-12-06T21:43:19.193Z,1765057399.193 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409A04E0
2025-12-06T21:43:19.193Z,1765057399.193 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1115
2025-12-06T21:43:19.217Z,1765057399.217 [Depth_Keller] Loaded
2025-12-06T21:43:19.217Z,1765057399.217 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2025-12-06T21:43:19.282Z,1765057399.282 [NAL9602] Loaded
2025-12-06T21:43:19.282Z,1765057399.282 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2025-12-06T21:43:19.311Z,1765057399.311 [Onboard] Loaded
2025-12-06T21:43:19.312Z,1765057399.312 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2025-12-06T21:43:19.313Z,1765057399.313 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 409D04E0
2025-12-06T21:43:19.313Z,1765057399.313 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1116
2025-12-06T21:43:19.327Z,1765057399.327 [Power24vConverter] Loaded
2025-12-06T21:43:19.327Z,1765057399.327 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2025-12-06T21:43:19.343Z,1765057399.343 [Radio_Surface] Loaded
2025-12-06T21:43:19.344Z,1765057399.344 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2025-12-06T21:43:19.345Z,1765057399.345 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A004E0
2025-12-06T21:43:19.345Z,1765057399.345 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1117
2025-12-06T21:43:19.391Z,1765057399.391 [RDI_Pathfinder] Loaded
2025-12-06T21:43:19.391Z,1765057399.391 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2025-12-06T21:43:19.407Z,1765057399.407 [Sonardyne_Nano] Loaded
2025-12-06T21:43:19.407Z,1765057399.407 [ComponentRegistry](DEBUG): SyncComponent "Sonardyne_Nano" handled in the control thread.
2025-12-06T21:43:19.408Z,1765057399.408 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2025-12-06T21:43:19.408Z,1765057399.408 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2025-12-06T21:43:19.744Z,1765057399.744 [BuoyancyServo] Loaded
2025-12-06T21:43:19.744Z,1765057399.744 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2025-12-06T21:43:19.795Z,1765057399.795 [ElevatorServo] Loaded
2025-12-06T21:43:19.795Z,1765057399.795 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2025-12-06T21:43:19.825Z,1765057399.825 [DockingStepper] Loaded
2025-12-06T21:43:19.825Z,1765057399.825 [ComponentRegistry](DEBUG): SyncComponent "DockingStepper" handled in the control thread.
2025-12-06T21:43:19.873Z,1765057399.873 [MassServo] Loaded
2025-12-06T21:43:19.873Z,1765057399.873 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2025-12-06T21:43:19.918Z,1765057399.918 [RudderServo] Loaded
2025-12-06T21:43:19.918Z,1765057399.918 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2025-12-06T21:43:19.966Z,1765057399.966 [ThrusterHE] Loaded
2025-12-06T21:43:19.966Z,1765057399.966 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2025-12-06T21:43:19.969Z,1765057399.969 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2025-12-06T21:43:19.970Z,1765057399.970 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2025-12-06T21:43:20.101Z,1765057400.101 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2025-12-06T21:43:20.101Z,1765057400.101 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2025-12-06T21:43:20.131Z,1765057400.131 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2025-12-06T21:43:20.131Z,1765057400.131 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2025-12-06T21:43:20.476Z,1765057400.476 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2025-12-06T21:43:20.477Z,1765057400.477 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2025-12-06T21:43:20.648Z,1765057400.648 [CTD_Seabird] Loaded
2025-12-06T21:43:20.649Z,1765057400.649 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2025-12-06T21:43:20.650Z,1765057400.650 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40BC24E0
2025-12-06T21:43:20.650Z,1765057400.650 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1118
2025-12-06T21:43:20.686Z,1765057400.686 [ESPComponent] Loaded
2025-12-06T21:43:20.687Z,1765057400.687 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2025-12-06T21:43:20.709Z,1765057400.709 [PAR_Licor] Loaded
2025-12-06T21:43:20.709Z,1765057400.709 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2025-12-06T21:43:20.754Z,1765057400.754 [WetLabsBB2FL] Loaded
2025-12-06T21:43:20.754Z,1765057400.754 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2025-12-06T21:43:20.755Z,1765057400.755 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40BF24E0
2025-12-06T21:43:20.756Z,1765057400.756 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1119
2025-12-06T21:43:20.757Z,1765057400.757 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2025-12-06T21:43:20.757Z,1765057400.757 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2025-12-06T21:43:20.918Z,1765057400.918 [SBIT](DEBUG): Construct Startup Built In Test.
2025-12-06T21:43:20.927Z,1765057400.927 [SBIT] Loaded
2025-12-06T21:43:20.928Z,1765057400.928 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2025-12-06T21:43:20.931Z,1765057400.931 [IBIT](DEBUG): Construct Initiated Built In Test.
2025-12-06T21:43:20.943Z,1765057400.943 [IBIT] Loaded
2025-12-06T21:43:20.944Z,1765057400.944 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2025-12-06T21:43:20.949Z,1765057400.949 [CBIT](DEBUG): Construct Continuous Built In Test.
2025-12-06T21:43:21.030Z,1765057401.030 [CBIT] Loaded
2025-12-06T21:43:21.031Z,1765057401.031 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2025-12-06T21:43:21.063Z,1765057401.063 [GFScanner] Loaded
2025-12-06T21:43:21.064Z,1765057401.064 [ComponentRegistry](DEBUG): SyncComponent "GFScanner" handled in the control thread.
2025-12-06T21:43:21.064Z,1765057401.064 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2025-12-06T21:43:21.070Z,1765057401.070 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2025-12-06T21:43:21.073Z,1765057401.073 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2025-12-06T21:43:21.085Z,1765057401.085 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2025-12-06T21:43:21.086Z,1765057401.086 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40C6D4E0
2025-12-06T21:43:21.086Z,1765057401.086 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1120
2025-12-06T21:43:21.091Z,1765057401.091 [Supervisor](INFO): Main Thread ID is 824
2025-12-06T21:43:21.091Z,1765057401.091 [Supervisor](DEBUG): Running supervisor.
2025-12-06T21:43:21.092Z,1765057401.092 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1121
2025-12-06T21:43:21.092Z,1765057401.092 [CommandExec](INFO): Initializing the command executive.
2025-12-06T21:43:21.094Z,1765057401.094 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1122
2025-12-06T21:43:21.096Z,1765057401.096 [controlThread ThreadHandler](INFO): Handler Thread ID is 1123
2025-12-06T21:43:21.096Z,1765057401.096 [controlThread](DEBUG): Initializing ControlThread
2025-12-06T21:43:21.097Z,1765057401.097 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2025-12-06T21:43:21.097Z,1765057401.097 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2025-12-06T21:43:21.098Z,1765057401.098 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2025-12-06T21:43:21.098Z,1765057401.098 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2025-12-06T21:43:21.098Z,1765057401.098 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2025-12-06T21:43:21.099Z,1765057401.099 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2025-12-06T21:43:21.101Z,1765057401.101 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2025-12-06T21:43:21.101Z,1765057401.101 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2025-12-06T21:43:21.102Z,1765057401.102 [LoopControl](DEBUG): Initialize LoopControlComponent.
2025-12-06T21:43:21.103Z,1765057401.103 [NavChart](DEBUG): Initialize NavChart Navigation.
2025-12-06T21:43:21.103Z,1765057401.103 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2025-12-06T21:43:21.111Z,1765057401.111 [SBIT](INFO): Initialize SBIT Component.
2025-12-06T21:43:21.112Z,1765057401.112 [SBIT](IMPORTANT): git: 2025-12-04_A
2025-12-06T21:43:21.112Z,1765057401.112 [SBIT](INFO): git hash: ef8e2bb979844518d8925ddee7860b1c5088e3f5
2025-12-06T21:43:21.112Z,1765057401.112 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2025-12-06T21:43:21.113Z,1765057401.113 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #1 PREEMPT Tue Sep 24 11:12:27 PDT 2019
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2025-12-06T21:43:21.114Z,1765057401.114 [SBIT](INFO): Beginning SBIT in 20.000000 seconds.
2025-12-06T21:43:21.115Z,1765057401.115 [IBIT](INFO): Initialize IBIT Component.
2025-12-06T21:43:21.116Z,1765057401.116 [CBIT](DEBUG): Initialize CBIT Component.
2025-12-06T21:43:21.117Z,1765057401.117 [logger ThreadHandler](INFO): Handler Thread ID is 1124
2025-12-06T21:43:21.127Z,1765057401.127 [CBIT](DEBUG): Initialized mux pins.
2025-12-06T21:43:21.127Z,1765057401.127 [CBIT](DEBUG): Initializing the watchdog timer.
2025-12-06T21:43:21.135Z,1765057401.135 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 1125
2025-12-06T21:43:21.147Z,1765057401.147 [DAT ThreadHandler](INFO): Handler Thread ID is 1126
2025-12-06T21:43:21.148Z,1765057401.148 [DAT](INFO): Powering up
2025-12-06T21:43:21.148Z,1765057401.148 [DAT](DEBUG): Initializing DAT.
2025-12-06T21:43:21.151Z,1765057401.151 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2025-12-06T21:43:21.151Z,1765057401.151 [CBIT](DEBUG): Initializing heartbeat.
2025-12-06T21:43:21.153Z,1765057401.153 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1128
2025-12-06T21:43:21.155Z,1765057401.155 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2025-12-06T21:43:21.163Z,1765057401.163 [Onboard ThreadHandler](INFO): Handler Thread ID is 1129
2025-12-06T21:43:21.193Z,1765057401.193 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1130
2025-12-06T21:43:21.203Z,1765057401.203 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1131
2025-12-06T21:43:21.204Z,1765057401.204 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2025-12-06T21:43:21.208Z,1765057401.208 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1133
2025-12-06T21:43:21.211Z,1765057401.211 [WetLabsBB2FL](INFO): Powering up
2025-12-06T21:43:21.212Z,1765057401.212 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1135
2025-12-06T21:43:21.215Z,1765057401.215 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2025-12-06T21:43:21.215Z,1765057401.215 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2025-12-06T21:43:21.215Z,1765057401.215 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2025-12-06T21:43:21.215Z,1765057401.215 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2025-12-06T21:43:21.215Z,1765057401.215 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2025-12-06T21:43:21.216Z,1765057401.216 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2025-12-06T21:43:21.216Z,1765057401.216 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2025-12-06T21:43:21.216Z,1765057401.216 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2025-12-06T21:43:21.223Z,1765057401.223 [CBIT](DEBUG): Deactivating emergency mode.
2025-12-06T21:43:21.263Z,1765057401.263 [CBIT](DEBUG): Backplane powered.
2025-12-06T21:43:21.263Z,1765057401.263 [GFScanner](DEBUG): Initializing GFScanner
2025-12-06T21:43:21.263Z,1765057401.263 [GFScanner](DEBUG): Deactivating GF circuits.
2025-12-06T21:43:21.268Z,1765057401.268 [MissionManager](IMPORTANT): Using TethysL tl-to-tx parser
2025-12-06T21:43:21.269Z,1765057401.269 [MissionManager](INFO): Loading Mission from file: Missions/underIce/StartupUnder.tl
2025-12-06T21:43:21.269Z,1765057401.269 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/StartupUnder.tl
2025-12-06T21:43:21.270Z,1765057401.270 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/StartupUnder.tl
2025-12-06T21:43:21.275Z,1765057401.275 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/StartupUnder.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="StartupUnder" />

2025-12-06T21:43:21.275Z,1765057401.275 [MissionManager](ERROR): Top node has no child nodes: Mission
2025-12-06T21:43:21.275Z,1765057401.275 [MissionManager](ERROR): Could not load startup mission.
2025-12-06T21:43:21.276Z,1765057401.276 [MissionManager](INFO): Loading Mission from file: Missions/underIce/DefaultWithUndock.tl
2025-12-06T21:43:21.276Z,1765057401.276 [MissionManager](DEBUG): TethyslAPI: loading: Missions/underIce/DefaultWithUndock.tl
2025-12-06T21:43:21.277Z,1765057401.277 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/underIce/DefaultWithUndock.tl
2025-12-06T21:43:21.595Z,1765057401.595 [Radio_Surface](INFO): Powering up
2025-12-06T21:43:21.818Z,1765057401.818 [MissionManager](DEBUG): TethyslAPI: Missions/underIce/DefaultWithUndock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="DefaultWithUndock">
    <DefineArg Name="ElapsedSinceDefaultStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="DetachTimeout">
        <Units:hour />
        <Value>6</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:second />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DriftTimeout">
        <Units:minute />
        <Value>3</Value>
    </DefineArg>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>30</Value>
        </Setting>
    </Guidance:Wait>
    <Aggregate Id="LeaveDock">
        <Sequence />
        <Timeout Duration="DetachTimeout">
            <Syslog Severity="Important">
                Timed out while trying to detach from dock at current depth of 
                <Universal:depth />
                <Units:meter />
                .
            </Syslog>
        </Timeout>
        <Estimation:TrackAcousticContact>
            <While>
                <Universal:depth />
                <Gt>
                    <Control:VerticalControl.surfaceThreshold />
                </Gt>
            </While>
            <Setting>
                <Estimation:TrackAcousticContact.contactLabelSetting />
                <Arg Name="TransponderCode" />
            </Setting>
            <Setting>
                <Estimation:TrackAcousticContact.numberOfSamplesSetting />
                <Arg Name="NumberOfPings" />
            </Setting>
            <Setting>
                <Estimation:TrackAcousticContact.updatePeriodSetting />
                <Arg Name="TrackingUpdatePeriod" />
            </Setting>
        </Estimation:TrackAcousticContact>
        <Dock:Undock>
            <Sequence />
            <Setting>
                <Dock:Undock.driftTimeout />
                <Arg Name="DriftTimeout" />
            </Setting>
        </Dock:Undock>
    </Aggregate>
    <Aggregate Id="SurfaceDefault">
        <Sequence />
        <Guidance:GoToSurface>
            <Progression />
        </Guidance:GoToSurface>
        <Aggregate Id="CheckIn">
            <Sequence Repeat="288" />
            <ReadDatum Id="Read_GPS">
                <Timeout Duration="P5M" />
                <Universal:time_fix />
            </ReadDatum>
            <ReadDatum Id="Read_Iridium">
                <Timeout Duration="P2H">
                    <Guidance:Execute>
                        <Sequence />
                        <Setting>
                            <Guidance:Execute.command />
                            <String>Burn on</String>
                        </Setting>
                    </Guidance:Execute>
                    <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
                </Timeout>
                <Universal:platform_communications />
            </ReadDatum>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Units:minute />
                    <Value>5</Value>
                </Setting>
            </Guidance:Wait>
            <Assign>
                <Sequence />
                <Arg Name="ElapsedSinceDefaultStarted" />
                <Elapsed>
                    <Universal:mission_started />
                </Elapsed>
            </Assign>
            <Syslog Severity="Important">
                Default mission has been running for 
                <Arg Name="ElapsedSinceDefaultStarted" />
                <Units:minute />
            </Syslog>
        </Aggregate>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>

2025-12-06T21:43:21.833Z,1765057401.833 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2025-12-06T21:43:21.845Z,1765057401.845 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 6.000000 h
2025-12-06T21:43:21.849Z,1765057401.849 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 50 count
2025-12-06T21:43:21.885Z,1765057401.885 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 10.000000 s
2025-12-06T21:43:21.889Z,1765057401.889 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2025-12-06T21:43:21.901Z,1765057401.901 [MissionManager](INFO): DefineArg DefaultWithUndock.DriftTimeout = 3.000000 min
2025-12-06T21:43:21.902Z,1765057401.902 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2025-12-06T21:43:22.067Z,1765057402.067 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2025-12-06T21:43:22.068Z,1765057402.068 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-06T21:43:22.128Z,1765057402.128 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2025-12-06T21:43:22.166Z,1765057402.166 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2025-12-06T21:43:22.168Z,1765057402.168 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2025-12-06T21:43:22.183Z,1765057402.183 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2025-12-06T21:43:22.208Z,1765057402.208 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission DefaultWithUndock {
  arguments {
    ElapsedSinceDefaultStarted = 0 minute

    DetachTimeout = 6 hour
      """
      Maximum time duration for the vehicle to detach form the dock.
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Dock transponder address.
      """

    TrackingUpdatePeriod = 10 second
      """
      Time duration between acoustic range queries while the mission is
      detaching from the dock.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    DriftTimeout = 3 minute
      """
      How long to allow vehicle to drift away from dock before retrying reverse
      """
  }

  behavior Guidance:Wait {
    """
    Wait a moment to see if the scheduler starts a new mission before
    starting to actually run Default.
    """

    run in sequence

    set duration = 30 second
  }

  aggregate LeaveDock {
    run in sequence

    timeout duration=DetachTimeout {
      syslog important "Timed out while trying to detach from dock at current depth of "
           + Universal:depth~meter + "."
    }

    # Acoustic tracking directives

    behavior Estimation:TrackAcousticContact {
      run while (
        Universal:depth > Control:VerticalControl.surfaceThreshold
      )

      set contactLabelSetting = TransponderCode
      set numberOfSamplesSetting = NumberOfPings
      set updatePeriodSetting = TrackingUpdatePeriod
    }

    # Leave the dock

    behavior Dock:Undock {
      run in sequence

      set driftTimeout = DriftTimeout
    }
  }

  aggregate SurfaceDefault {
    run in sequence

    # This mission assumes open water so from here on it's the same old default that's always used

    behavior Guidance:GoToSurface {
      run in progression
    }

    aggregate CheckIn {
      run in sequence repeat=288

      readDatum id="Read_GPS" {
        timeout duration=P5M

        Universal:time_fix
      }

      readDatum id="Read_Iridium" {
        timeout duration=P2H {
          behavior Guidance:Execute {
            run in sequence

            set command = "Burn on"
          }

          syslog critical "Dropped weight due to communications timeout."
        }

        Universal:platform_communications
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = 5 minute
      }

      assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )

      syslog important "Default mission has been running for " + ElapsedSinceDefaultStarted~minute
    }
  }

  syslog important "Restarting logs and Default mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}


2025-12-06T21:43:22.213Z,1765057402.213 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,NAL9602,Power24vConverter,RDI_Pathfinder,Sonardyne_Nano,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,DockingStepper,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,GFScanner,LcmPublisher,Reporter,LogSplitter,
2025-12-06T21:43:22.239Z,1765057402.239 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2025-12-06T21:43:22.303Z,1765057402.303 [Depth_Keller](INFO): Initializing.
2025-12-06T21:43:22.304Z,1765057402.304 [Power24vConverter](INFO): Powering up.
2025-12-06T21:43:22.305Z,1765057402.305 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-12-06T21:43:22.312Z,1765057402.312 [Sonardyne_Nano](INFO): Initializing.
2025-12-06T21:43:22.359Z,1765057402.359 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-12-06T21:43:22.386Z,1765057402.386 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-12-06T21:43:22.391Z,1765057402.391 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-12-06T21:43:22.392Z,1765057402.392 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-12-06T21:43:22.399Z,1765057402.399 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-12-06T21:43:22.400Z,1765057402.400 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-06T21:43:22.408Z,1765057402.408 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-06T21:43:22.409Z,1765057402.409 [MassServo](DEBUG): Initializing EZServoServo.
2025-12-06T21:43:22.415Z,1765057402.415 [MassServo](DEBUG): Initializing MassServo.
2025-12-06T21:43:22.416Z,1765057402.416 [RudderServo](DEBUG): Initializing EZServoServo.
2025-12-06T21:43:22.424Z,1765057402.424 [RudderServo](DEBUG): Initializing RudderServo.
2025-12-06T21:43:22.424Z,1765057402.424 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-12-06T21:43:22.431Z,1765057402.431 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-12-06T21:43:22.660Z,1765057402.660 [Depth_Keller](ERROR): Pressure or depth reading out of range: 916.699524 decibar, 0.000000 m
2025-12-06T21:43:22.672Z,1765057402.672 [DepthRateCalculator](ERROR): Depth measurement is not active
2025-12-06T21:43:23.319Z,1765057403.319 [WetLabsBB2FL](INFO): Powering down
2025-12-06T21:43:24.241Z,1765057404.241 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART
2025-12-06T21:43:25.895Z,1765057405.895 [Sonardyne_Nano](IMPORTANT): Found beacon with acoustic ID 2207
2025-12-06T21:43:26.849Z,1765057406.849 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-12-06T21:43:26.852Z,1765057406.852 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-12-06T21:43:32.741Z,1765057412.741 [DAT](INFO): DAT read: 

2025-12-06T21:43:32.742Z,1765057412.742 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2025-12-06T21:43:34.504Z,1765057414.504 [DAT](INFO): DAT read: MF Frequency Band

2025-12-06T21:43:34.505Z,1765057414.505 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.15.0

2025-12-06T21:43:34.505Z,1765057414.505 [DAT](INFO): DAT read: Dec  6 2025 21:43:31 

2025-12-06T21:43:35.512Z,1765057415.512 [DAT](INFO): DAT read: Features enabled [Bearing]

2025-12-06T21:43:35.513Z,1765057415.513 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP

2025-12-06T21:43:35.513Z,1765057415.513 [DAT](INFO): commRate: 600
2025-12-06T21:43:37.579Z,1765057417.579 [DAT](INFO): entering command mode
2025-12-06T21:43:37.779Z,1765057417.779 [DAT](INFO): DAT read: 

2025-12-06T21:43:37.780Z,1765057417.780 [DAT](INFO): DAT read: user:1>

2025-12-06T21:43:37.780Z,1765057417.780 [DAT](INFO): setting verbose to 3
2025-12-06T21:43:38.031Z,1765057418.031 [DAT](INFO): DAT read: user:1>

2025-12-06T21:43:38.033Z,1765057418.033 [DAT](INFO): DAT read: Verbose         | 3           

2025-12-06T21:43:38.033Z,1765057418.033 [DAT](INFO): set verbose to 3
2025-12-06T21:43:38.033Z,1765057418.033 [DAT](INFO): setting DatVerbose to 27440
2025-12-06T21:43:38.284Z,1765057418.284 [DAT](INFO): DAT read: user:2>

2025-12-06T21:43:38.284Z,1765057418.284 [DAT](INFO): DAT read: DatVerbose      | 27440       

2025-12-06T21:43:38.285Z,1765057418.285 [DAT](INFO): set DatVerbose to 27440
2025-12-06T21:43:38.285Z,1765057418.285 [DAT](INFO): setting transmit power to 8
2025-12-06T21:43:38.535Z,1765057418.535 [DAT](INFO): DAT read: user:3>

2025-12-06T21:43:38.536Z,1765057418.536 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2025-12-06T21:43:38.537Z,1765057418.537 [DAT](INFO): set transmit power to 8
2025-12-06T21:43:38.537Z,1765057418.537 [DAT](INFO): setting local address to 11
2025-12-06T21:43:38.787Z,1765057418.787 [DAT](INFO): DAT read: user:4>

2025-12-06T21:43:38.788Z,1765057418.788 [DAT](INFO): DAT read: LocalAddr       | 11          

2025-12-06T21:43:38.789Z,1765057418.789 [DAT](INFO): set local address to 11
2025-12-06T21:43:38.790Z,1765057418.790 [DAT](INFO): Setting time to: 21:43:38 And date to:12/6/2025
2025-12-06T21:43:39.060Z,1765057419.060 [DAT](INFO): DAT read: user:5>

2025-12-06T21:43:39.060Z,1765057419.060 [DAT](INFO): DAT read: Sat Dec 6, 2025  21:43:38  

2025-12-06T21:43:39.061Z,1765057419.061 [DAT](INFO): Local DAT time set to Sat Dec 6, 2025  21:43:38  

2025-12-06T21:43:41.666Z,1765057421.666 [SBIT](IMPORTANT): Beginning Startup BIT
2025-12-06T21:43:41.675Z,1765057421.675 [GFScanner](IMPORTANT): Beginning ground fault scan
2025-12-06T21:43:46.304Z,1765057426.304 [GFScanner](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.000288
CHAN A1 (24V): 0.002266
CHAN A2 (12V): -0.000369
CHAN A3 (5V): 0.000130
CHAN B0 (3.3V): 0.000604
CHAN B1 (3.15aV): 0.000333
CHAN B2 (3.15bV): -0.000126
CHAN B3 (GND): 0.001065
OPEN: 0.006407
Full Scale: +/- 1 mA
2025-12-06T21:43:49.308Z,1765057429.308 [NAL9602](INFO): Powering up NAL9602
2025-12-06T21:43:52.275Z,1765057432.275 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:44:00.236Z,1765057440.236 [NAL9602](INFO): NAL9602 initialized
2025-12-06T21:44:23.399Z,1765057463.399 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:44:35.801Z,1765057475.801 [SBIT](IMPORTANT): SBIT PASSED
2025-12-06T21:44:35.802Z,1765057475.802 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2025-12-06T21:44:35.802Z,1765057475.802 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=29 count;

2025-12-06T21:44:35.831Z,1765057475.831 [SBIT](IMPORTANT): BackseatComponent.fullSlateAccess=1 bool;

2025-12-06T21:44:35.831Z,1765057475.831 [SBIT](IMPORTANT): CBIT.runNavErrorCritical=0 bool;

2025-12-06T21:44:35.831Z,1765057475.831 [SBIT](IMPORTANT): DAT.transponderAddress=8 enum;

2025-12-06T21:44:35.831Z,1765057475.831 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2025-12-06T21:44:35.831Z,1765057475.831 [SBIT](IMPORTANT): ESPComponent.simulateHardware=0 bool;

2025-12-06T21:44:35.831Z,1765057475.831 [SBIT](IMPORTANT): Express linearApproximation DAT.acoustic_contact_range 15.000000 meter;

2025-12-06T21:44:35.831Z,1765057475.831 [SBIT](IMPORTANT): SpeedControl.rollOptimum=0.800000 m/s;

2025-12-06T21:44:35.832Z,1765057475.832 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=80 cubic_centimeter;

2025-12-06T21:44:35.832Z,1765057475.832 [SBIT](IMPORTANT): VerticalControl.kiPitchMass=0.001 reciprocal_second;

2025-12-06T21:44:35.832Z,1765057475.832 [SBIT](IMPORTANT): VerticalControl.massDefault=0 centimeter;

2025-12-06T21:44:36.219Z,1765057476.219 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-12-06T21:44:36.220Z,1765057476.220 [DefaultWithUndock] Running Loop=1
2025-12-06T21:44:36.220Z,1765057476.220 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-12-06T21:44:36.220Z,1765057476.220 [DefaultWithUndock:A.Wait] Running Loop=1
2025-12-06T21:44:36.220Z,1765057476.220 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-12-06T21:44:46.293Z,1765057486.293 [NAL9602](INFO): SBD MO Status=2, MOMSN=4579, MT Status=2, MTMSN=0
2025-12-06T21:44:46.294Z,1765057486.294 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-06T21:44:54.527Z,1765057494.527 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:44:55.177Z,1765057495.177 [NAL9602](INFO): SBD MO Status=0, MOMSN=4579, MT Status=0, MTMSN=0
2025-12-06T21:44:55.177Z,1765057495.177 [NAL9602](INFO): No messages in MT queue
2025-12-06T21:44:56.394Z,1765057496.394 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,214455.00,A,3641.71792,N,12156.53731,W,0.486,207.01,061225,,,A*7B
2025-12-06T21:44:56.397Z,1765057496.397 [NAL9602](INFO): GPS fix at 20251206T214455: (36.695299, -121.942289)
2025-12-06T21:45:06.512Z,1765057506.512 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-12-06T21:45:06.513Z,1765057506.513 [DefaultWithUndock:A.Wait] Stopped
2025-12-06T21:45:06.513Z,1765057506.513 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-12-06T21:45:06.513Z,1765057506.513 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-12-06T21:45:06.513Z,1765057506.513 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-12-06T21:45:06.513Z,1765057506.513 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-12-06T21:45:06.513Z,1765057506.513 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-12-06T21:45:06.513Z,1765057506.513 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-12-06T21:45:06.514Z,1765057506.514 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-12-06T21:45:06.514Z,1765057506.514 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-06T21:45:06.922Z,1765057506.922 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-12-06T21:45:06.922Z,1765057506.922 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-06T21:45:06.923Z,1765057506.923 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.198056 m.
2025-12-06T21:45:06.924Z,1765057506.924 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-12-06T21:45:06.924Z,1765057506.924 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-12-06T21:45:07.316Z,1765057507.316 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-12-06T21:45:07.729Z,1765057507.729 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-06T21:45:07.844Z,1765057507.844 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-06T21:45:25.651Z,1765057525.651 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:45:27.537Z,1765057527.537 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2025-12-06T21:45:27.920Z,1765057527.920 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-12-06T21:45:28.309Z,1765057528.309 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-06T21:45:28.340Z,1765057528.340 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-12-06T21:45:28.340Z,1765057528.340 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-12-06T21:45:28.340Z,1765057528.340 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-12-06T21:45:28.340Z,1765057528.340 [DefaultWithUndock:LeaveDock] Stopped
2025-12-06T21:45:28.340Z,1765057528.340 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-12-06T21:45:28.341Z,1765057528.341 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-12-06T21:45:28.341Z,1765057528.341 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-12-06T21:45:28.341Z,1765057528.341 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-12-06T21:45:28.341Z,1765057528.341 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-12-06T21:45:28.341Z,1765057528.341 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-12-06T21:45:28.342Z,1765057528.342 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-12-06T21:45:28.342Z,1765057528.342 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-12-06T21:45:28.342Z,1765057528.342 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-12-06T21:45:28.343Z,1765057528.343 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-12-06T21:45:28.343Z,1765057528.343 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-12-06T21:45:28.734Z,1765057528.734 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-12-06T21:45:28.734Z,1765057528.734 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-12-06T21:45:28.734Z,1765057528.734 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-12-06T21:45:29.126Z,1765057529.126 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-12-06T21:45:30.737Z,1765057530.737 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,214530.00,A,3641.71445,N,12156.54248,W,0.797,247.04,061225,,,A*7E
2025-12-06T21:45:30.740Z,1765057530.740 [NAL9602](INFO): GPS fix at 20251206T214530: (36.695241, -121.942375)
2025-12-06T21:45:30.774Z,1765057530.774 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-12-06T21:45:30.774Z,1765057530.774 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-12-06T21:45:31.180Z,1765057531.180 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-12-06T21:45:54.757Z,1765057554.757 [NAL9602](INFO): SBD MO Status=1, MOMSN=4580, MT Status=0, MTMSN=0
2025-12-06T21:45:54.811Z,1765057554.811 [NAL9602](INFO): Sent 39 bytes from file Logs/20251206T213415/Courier0004.lzma
2025-12-06T21:45:54.811Z,1765057554.811 [NAL9602](INFO): Packets left to send: 0
2025-12-06T21:45:56.775Z,1765057556.775 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:46:05.077Z,1765057565.077 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004268
2025-12-06T21:46:07.989Z,1765057567.989 [NAL9602](INFO): SBD MO Status=1, MOMSN=4581, MT Status=0, MTMSN=0
2025-12-06T21:46:08.039Z,1765057568.039 [NAL9602](INFO): Sent 267 bytes from file Logs/20251206T214309/Courier0000.lzma
2025-12-06T21:46:08.039Z,1765057568.039 [NAL9602](INFO): Packets left to send: 0
2025-12-06T21:46:08.153Z,1765057568.153 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-12-06T21:46:08.153Z,1765057568.153 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-12-06T21:46:08.153Z,1765057568.153 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-12-06T21:46:12.735Z,1765057572.735 [DataOverHttps](INFO): Sending 428 bytes from file Logs/20251206T213415/Express0005.lzma
2025-12-06T21:46:13.736Z,1765057573.736 [DataOverHttps](INFO): Moved sent file to Logs/20251206T213415/Express0005.lzma.bak
2025-12-06T21:46:13.737Z,1765057573.737 [DataOverHttps](INFO): SBD MOMSN=26447001
2025-12-06T21:46:23.375Z,1765057583.375 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:46:32.175Z,1765057592.175 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:46:38.704Z,1765057598.704 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-06T21:46:40.691Z,1765057600.691 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:46:49.439Z,1765057609.439 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:46:58.055Z,1765057618.055 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:47:06.635Z,1765057626.635 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:47:15.227Z,1765057635.227 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:47:23.819Z,1765057643.819 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:47:32.383Z,1765057652.383 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:47:41.055Z,1765057661.055 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:47:49.667Z,1765057669.667 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:47:58.211Z,1765057678.211 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:48:08.796Z,1765057688.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:48:17.443Z,1765057697.443 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:48:25.932Z,1765057705.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:48:34.591Z,1765057714.591 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:48:43.261Z,1765057723.261 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:48:51.792Z,1765057731.792 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:49:00.483Z,1765057740.483 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:49:09.107Z,1765057749.107 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:49:17.659Z,1765057757.659 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:49:26.335Z,1765057766.335 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:49:34.955Z,1765057774.955 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:49:43.475Z,1765057783.475 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:49:52.211Z,1765057792.211 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:49:59.821Z,1765057799.821 [DataOverHttps](IMPORTANT): SBD MTMSN=20251206T214958
2025-12-06T21:50:08.339Z,1765057808.339 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 15 min;set transit.NeedCommsTime 12 min;set transit.Latitude 36.77913 degree;set transit.Longitude -121.85963 degree;run
2025-12-06T21:50:08.393Z,1765057808.393 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-12-06T21:50:08.394Z,1765057808.394 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-12-06T21:50:08.394Z,1765057808.394 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-12-06T21:50:08.397Z,1765057808.397 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-12-06T21:50:09.179Z,1765057809.179 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-12-06T21:50:09.185Z,1765057809.185 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-12-06T21:50:09.189Z,1765057809.189 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-12-06T21:50:09.192Z,1765057809.192 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-12-06T21:50:09.194Z,1765057809.194 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-12-06T21:50:09.213Z,1765057809.213 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-12-06T21:50:09.221Z,1765057809.221 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-12-06T21:50:09.248Z,1765057809.248 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-12-06T21:50:09.250Z,1765057809.250 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-12-06T21:50:09.303Z,1765057809.303 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-12-06T21:50:09.306Z,1765057809.306 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-12-06T21:50:09.321Z,1765057809.321 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-12-06T21:50:09.328Z,1765057809.328 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-12-06T21:50:09.349Z,1765057809.349 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-12-06T21:50:09.349Z,1765057809.349 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-12-06T21:50:09.349Z,1765057809.349 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-12-06T21:50:09.352Z,1765057809.352 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-12-06T21:50:09.759Z,1765057809.759 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <Aggregate Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2025-12-06T21:50:09.765Z,1765057809.765 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-12-06T21:50:09.768Z,1765057809.768 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-12-06T21:50:09.772Z,1765057809.772 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-12-06T21:50:09.776Z,1765057809.776 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-12-06T21:50:09.779Z,1765057809.779 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-12-06T21:50:09.782Z,1765057809.782 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1500.000000 s
2025-12-06T21:50:09.801Z,1765057809.801 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-12-06T21:50:09.816Z,1765057809.816 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-12-06T21:50:09.823Z,1765057809.823 [MissionManager](INFO): DefineArg transit:NeedComms.DoingCommsMode = 0.000000 count
2025-12-06T21:50:09.826Z,1765057809.826 [MissionManager](INFO): DefineArg transit:NeedComms.RestoreMode = 0.000000 count
2025-12-06T21:50:09.833Z,1765057809.833 [MissionManager](INFO): DefineOutput transit:NeedComms.IsActive = 0 bool
2025-12-06T21:50:09.852Z,1765057809.852 [MissionManager](INFO): DefineOutput transit:NeedComms.RequiredDiveMode = 0.000000 count
2025-12-06T21:50:09.876Z,1765057809.876 [transit:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2025-12-06T21:50:09.997Z,1765057809.997 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-12-06T21:50:09.997Z,1765057809.997 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-12-06T21:50:09.998Z,1765057809.998 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-12-06T21:50:10.204Z,1765057810.204 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-12-06T21:50:10.213Z,1765057810.213 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-12-06T21:50:10.217Z,1765057810.217 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-12-06T21:50:10.228Z,1765057810.228 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-12-06T21:50:10.235Z,1765057810.235 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-12-06T21:50:10.236Z,1765057810.236 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-12-06T21:50:10.252Z,1765057810.252 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-12-06T21:50:10.270Z,1765057810.270 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-12-06T21:50:10.333Z,1765057810.333 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-12-06T21:50:10.333Z,1765057810.333 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-12-06T21:50:10.334Z,1765057810.334 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-12-06T21:50:10.343Z,1765057810.343 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:50:10.383Z,1765057810.383 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-12-06T21:50:10.391Z,1765057810.391 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-12-06T21:50:10.394Z,1765057810.394 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-12-06T21:50:10.397Z,1765057810.397 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-12-06T21:50:10.397Z,1765057810.397 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-12-06T21:50:10.398Z,1765057810.398 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-12-06T21:50:10.674Z,1765057810.674 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-12-06T21:50:10.687Z,1765057810.687 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-12-06T21:50:10.690Z,1765057810.690 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-12-06T21:50:10.694Z,1765057810.694 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-12-06T21:50:10.704Z,1765057810.704 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-12-06T21:50:10.708Z,1765057810.708 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-12-06T21:50:10.728Z,1765057810.728 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-12-06T21:50:10.729Z,1765057810.729 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-12-06T21:50:10.733Z,1765057810.733 [transit:MassHold.Pitch](DEBUG): Construct.
2025-12-06T21:50:10.763Z,1765057810.763 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-12-06T21:50:10.769Z,1765057810.769 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-12-06T21:50:10.780Z,1765057810.780 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-12-06T21:50:10.853Z,1765057810.853 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission transit {
  """
  Vehicle dives immediately with no comms/GPS and transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

  arguments {
    MissionTimeout = 60 minute
      """
      Maximum duration of mission
      """

    NeedCommsTime = 30 minute
      """
      How often to surface for commumications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to seek. If set to NaN, uses latitude at mission
      initialization.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to seek. If set to NaN, uses longitude at mission
      initialization.
      """

    Northings = 0 meter
      """
      Northward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Eastings = 0 meter
      """
      Eastward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Depth = 10 meter
      """
      Depth of flat and level flight during the mission.
      """

    Speed = 1 meter_per_second
      """
      Speed of vehicle (relative to water) during the mission.
      """

    MaxDepth = 20 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 1 kilometer
      """
      Minimum distance offshore for the entire mission.
      """

    MinAltitude = 7 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MassHold = true
      """
      Set to True in order to hold mass at default position, False to allow
      mass to run on its own.
      """

    BuoyancyHold = true
      """
      Set to True in order to hold buoyancy at neutral position, False to
      allow buoyancy to run on its own.
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Buoyancy id="BuoyancyHold" {
    run while ( BuoyancyHold )

    set position = Control:VerticalControl.buoyancyNeutral
  }

  behavior Guidance:Pitch id="MassHold" {
    run while ( MassHold )

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
      set northingsDelta = Northings
      set eastingsDelta = Eastings
    }

    call id="PhoneHome" priorityHere=false refId="NeedComms"
  }
}


2025-12-06T21:50:10.853Z,1765057810.853 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-12-06T21:50:22.623Z,1765057822.623 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:50:25.135Z,1765057825.135 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 15 minute
2025-12-06T21:50:25.136Z,1765057825.136 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 12 minute
2025-12-06T21:50:25.137Z,1765057825.137 [CommandExec](IMPORTANT): got command set transit.Latitude 36.77913 degree
2025-12-06T21:50:25.138Z,1765057825.138 [CommandExec](IMPORTANT): got command set transit.Longitude -121.85963 degree
2025-12-06T21:50:25.138Z,1765057825.138 [CommandExec](IMPORTANT): got command run
2025-12-06T21:50:25.144Z,1765057825.144 [CommandExec](IMPORTANT): Running 
2025-12-06T21:50:25.416Z,1765057825.416 [DefaultWithUndock] Stopped
2025-12-06T21:50:25.416Z,1765057825.416 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-12-06T21:50:25.416Z,1765057825.416 [DefaultWithUndock:SurfaceDefault] Stopped
2025-12-06T21:50:25.416Z,1765057825.416 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-12-06T21:50:25.416Z,1765057825.416 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-12-06T21:50:25.416Z,1765057825.416 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-12-06T21:50:25.416Z,1765057825.416 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-12-06T21:50:25.416Z,1765057825.416 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-12-06T21:50:25.416Z,1765057825.416 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-12-06T21:50:25.416Z,1765057825.416 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-12-06T21:50:25.416Z,1765057825.416 [MissionManager](IMPORTANT): Started mission transit
2025-12-06T21:50:25.417Z,1765057825.417 [transit] Running Loop=1
2025-12-06T21:50:25.417Z,1765057825.417 [transit](DEBUG): Aggregate::initialize transit
2025-12-06T21:50:25.417Z,1765057825.417 [transit:StandardEnvelopes] Running Loop=1
2025-12-06T21:50:25.417Z,1765057825.417 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-12-06T21:50:25.417Z,1765057825.417 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-12-06T21:50:25.417Z,1765057825.417 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-12-06T21:50:25.418Z,1765057825.418 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-12-06T21:50:25.418Z,1765057825.418 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-12-06T21:50:25.418Z,1765057825.418 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-12-06T21:50:25.418Z,1765057825.418 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-12-06T21:50:25.418Z,1765057825.418 [transit:BackseatDriver] Running Loop=1
2025-12-06T21:50:25.418Z,1765057825.418 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-12-06T21:50:25.418Z,1765057825.418 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-12-06T21:50:25.418Z,1765057825.418 [transit:PowerOnly] Running Loop=1
2025-12-06T21:50:25.423Z,1765057825.423 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-12-06T21:50:25.423Z,1765057825.423 [transit:PowerOnly:A] Running Loop=1
2025-12-06T21:50:25.423Z,1765057825.423 [transit:PowerOnly:B] Running Loop=1
2025-12-06T21:50:25.423Z,1765057825.423 [transit:PowerOnly:C] Running Loop=1
2025-12-06T21:50:25.423Z,1765057825.423 [transit:PowerOnly:D] Running Loop=1
2025-12-06T21:50:25.424Z,1765057825.424 [transit:PowerOnly:E.Wait] Running Loop=1
2025-12-06T21:50:25.424Z,1765057825.424 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-12-06T21:50:25.424Z,1765057825.424 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-12-06T21:50:25.424Z,1765057825.424 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-12-06T21:50:25.424Z,1765057825.424 [transit:MassHold.Pitch] Running Loop=1
2025-12-06T21:50:25.424Z,1765057825.424 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-12-06T21:50:25.424Z,1765057825.424 [transit:B] Running Loop=1
2025-12-06T21:50:25.425Z,1765057825.425 [transit:MassHold.Pitch] Running Loop=1
2025-12-06T21:50:25.425Z,1765057825.425 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-12-06T21:50:25.426Z,1765057825.426 [transit:PowerOnly] Running Loop=1
2025-12-06T21:50:25.426Z,1765057825.426 [transit:PowerOnly:D] Stopped
2025-12-06T21:50:25.426Z,1765057825.426 [transit:PowerOnly:C] Stopped
2025-12-06T21:50:25.426Z,1765057825.426 [transit:PowerOnly:B] Stopped
2025-12-06T21:50:25.426Z,1765057825.426 [transit:PowerOnly:A] Stopped
2025-12-06T21:50:25.426Z,1765057825.426 [transit:BackseatDriver] Running Loop=1
2025-12-06T21:50:25.431Z,1765057825.431 [transit:StandardEnvelopes] Running Loop=1
2025-12-06T21:50:25.431Z,1765057825.431 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-12-06T21:50:25.431Z,1765057825.431 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-12-06T21:50:25.432Z,1765057825.432 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-12-06T21:50:25.433Z,1765057825.433 [transit:B] Stopped
2025-12-06T21:50:25.433Z,1765057825.433 [transit:C] Running Loop=1
2025-12-06T21:50:25.827Z,1765057825.827 [transit:C] Stopped
2025-12-06T21:50:25.827Z,1765057825.827 [transit:E] Running Loop=1
2025-12-06T21:50:26.254Z,1765057826.254 [transit:E] Stopped
2025-12-06T21:50:26.254Z,1765057826.254 [transit:F] Running Loop=1
2025-12-06T21:50:26.620Z,1765057826.620 [transit:F] Stopped
2025-12-06T21:50:26.620Z,1765057826.620 [transit:G] Running Loop=1
2025-12-06T21:50:27.028Z,1765057827.028 [transit:G] Stopped
2025-12-06T21:50:27.028Z,1765057827.028 [transit:Transit] Running Loop=1
2025-12-06T21:50:27.029Z,1765057827.029 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-12-06T21:50:27.029Z,1765057827.029 [transit:Transit:A.Pitch] Running Loop=1
2025-12-06T21:50:27.029Z,1765057827.029 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-12-06T21:50:27.029Z,1765057827.029 [transit:Transit:B.SetSpeed] Running Loop=1
2025-12-06T21:50:27.029Z,1765057827.029 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-12-06T21:50:27.029Z,1765057827.029 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-12-06T21:50:27.029Z,1765057827.029 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-12-06T21:50:27.035Z,1765057827.035 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.779129,-121.859627
2025-12-06T21:50:27.421Z,1765057827.421 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.779129,-121.859627
2025-12-06T21:50:27.422Z,1765057827.422 [transit:Transit:B.SetSpeed] Running Loop=1
2025-12-06T21:50:27.422Z,1765057827.422 [transit:Transit:A.Pitch] Running Loop=1
2025-12-06T21:50:27.467Z,1765057827.467 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-12-06T21:50:27.468Z,1765057827.468 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-12-06T21:50:27.468Z,1765057827.468 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-12-06T21:50:31.969Z,1765057831.969 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:50:40.899Z,1765057840.899 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:50:50.055Z,1765057850.055 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:50:59.131Z,1765057859.131 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:51:08.368Z,1765057868.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:51:17.479Z,1765057877.479 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:51:26.699Z,1765057886.699 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:51:36.031Z,1765057896.031 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:51:45.135Z,1765057905.135 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:51:54.471Z,1765057914.471 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:52:03.664Z,1765057923.664 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:52:12.759Z,1765057932.759 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:52:22.023Z,1765057942.023 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:52:31.228Z,1765057951.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:52:40.307Z,1765057960.307 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:52:49.435Z,1765057969.435 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:52:58.567Z,1765057978.567 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:53:08.823Z,1765057988.823 [CommandExec](IMPORTANT): got command get platform_buoyancy_position
2025-12-06T21:53:08.824Z,1765057988.824 [CommandExec](IMPORTANT): platform_buoyancy_position 85.656128 cc
2025-12-06T21:53:08.995Z,1765057988.995 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:53:16.900Z,1765057996.900 [CommandExec](IMPORTANT): got command get platform_pitch_angle degree
2025-12-06T21:53:16.900Z,1765057996.900 [CommandExec](IMPORTANT): platform_pitch_angle -1.270714 arcdeg
2025-12-06T21:53:19.520Z,1765057999.520 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:53:28.967Z,1765058008.967 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:53:32.010Z,1765058012.010 [CommandExec](IMPORTANT): got command configSet VerticalControl.massDefault 0.5 centimeter persist
2025-12-06T21:53:36.163Z,1765058016.163 [MassServo](FAULT): Overload Error
2025-12-06T21:53:36.163Z,1765058016.163 [MassServo] Hardware Fault, FailCount= 1
2025-12-06T21:53:36.163Z,1765058016.163 [MassServo](ERROR): Hardware Fault
2025-12-06T21:53:36.350Z,1765058016.350 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-12-06T21:53:36.502Z,1765058016.502 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-12-06T21:53:36.502Z,1765058016.502 [MassServo](INFO): Powering down
2025-12-06T21:53:37.309Z,1765058017.309 [MassServo](DEBUG): Initializing EZServoServo.
2025-12-06T21:53:37.428Z,1765058017.428 [MassServo](DEBUG): Initializing MassServo.
2025-12-06T21:53:37.542Z,1765058017.542 [CBIT](INFO): Clearing failed state for component MassServo
2025-12-06T21:53:37.543Z,1765058017.543 [MassServo] No Fault, FailCount= 1
2025-12-06T21:53:38.459Z,1765058018.459 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:53:47.587Z,1765058027.587 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:53:48.239Z,1765058028.239 [MassServo](FAULT): Overload Error
2025-12-06T21:53:48.239Z,1765058028.239 [MassServo] Hardware Fault, FailCount= 1
2025-12-06T21:53:48.239Z,1765058028.239 [MassServo](ERROR): Hardware Fault
2025-12-06T21:53:48.562Z,1765058028.562 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-12-06T21:53:48.785Z,1765058028.785 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-12-06T21:53:48.785Z,1765058028.785 [MassServo](INFO): Powering down
2025-12-06T21:53:49.431Z,1765058029.431 [MassServo](DEBUG): Initializing EZServoServo.
2025-12-06T21:53:49.552Z,1765058029.552 [MassServo](DEBUG): Initializing MassServo.
2025-12-06T21:53:49.622Z,1765058029.622 [CBIT](INFO): Clearing failed state for component MassServo
2025-12-06T21:53:49.622Z,1765058029.622 [MassServo] No Fault, FailCount= 1
2025-12-06T21:53:53.730Z,1765058033.730 [CommandExec](IMPORTANT): got command show variable speedCmd
2025-12-06T21:53:54.018Z,1765058034.018 [CommandExec](IMPORTANT): SpeedControl.speedCmd (meter_per_second)
2025-12-06T21:53:57.399Z,1765058037.399 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:53:59.219Z,1765058039.219 [CommandExec](IMPORTANT): got command get SpeedControl.speedCmd
2025-12-06T21:53:59.220Z,1765058039.220 [CommandExec](IMPORTANT): SpeedControl.speedCmd 1.000000 m/s
2025-12-06T21:54:01.539Z,1765058041.539 [MassServo](FAULT): Overload Error
2025-12-06T21:54:01.539Z,1765058041.539 [MassServo] Hardware Fault, FailCount= 1
2025-12-06T21:54:01.539Z,1765058041.539 [MassServo](ERROR): Hardware Fault
2025-12-06T21:54:01.853Z,1765058041.853 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-12-06T21:54:02.192Z,1765058042.192 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-12-06T21:54:02.192Z,1765058042.192 [MassServo](INFO): Powering down
2025-12-06T21:54:03.068Z,1765058043.068 [MassServo](DEBUG): Initializing EZServoServo.
2025-12-06T21:54:03.188Z,1765058043.188 [MassServo](DEBUG): Initializing MassServo.
2025-12-06T21:54:03.262Z,1765058043.262 [CBIT](INFO): Clearing failed state for component MassServo
2025-12-06T21:54:03.262Z,1765058043.262 [MassServo] No Fault, FailCount= 1
2025-12-06T21:54:08.791Z,1765058048.791 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:54:17.987Z,1765058057.987 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:54:27.183Z,1765058067.183 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:54:36.171Z,1765058076.171 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:54:37.363Z,1765058077.363 [CommandExec](IMPORTANT): got command failComponent
2025-12-06T21:54:37.364Z,1765058077.364 [CommandExec](IMPORTANT): Failed components:
2025-12-06T21:54:37.364Z,1765058077.364 [CommandExec](IMPORTANT): No failed Components.
2025-12-06T21:54:45.256Z,1765058085.256 [CommandExec](IMPORTANT): got command get platform_mass_position
2025-12-06T21:54:45.257Z,1765058085.257 [CommandExec](IMPORTANT): platform_mass_position 0.005000 m
2025-12-06T21:54:46.227Z,1765058086.227 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:54:50.044Z,1765058090.044 [CommandExec](IMPORTANT): got command show variable wrt_G
2025-12-06T21:54:50.047Z,1765058090.047 [CommandExec](IMPORTANT): platform_distance_wrt_ground (unknown)
2025-12-06T21:54:50.048Z,1765058090.048 [CommandExec](IMPORTANT): platform_speed_wrt_ground (meter_per_second)
2025-12-06T21:54:50.048Z,1765058090.048 [CommandExec](IMPORTANT): platform_velocity_wrt_ground (meter_per_second)
2025-12-06T21:54:50.049Z,1765058090.049 [CommandExec](IMPORTANT): platform_x_velocity_wrt_ground (meter_per_second)
2025-12-06T21:54:50.049Z,1765058090.049 [CommandExec](IMPORTANT): platform_y_velocity_wrt_ground (meter_per_second)
2025-12-06T21:54:50.050Z,1765058090.050 [CommandExec](IMPORTANT): platform_z_velocity_wrt_ground (meter_per_second)
2025-12-06T21:54:50.211Z,1765058090.211 [CommandExec](IMPORTANT): DeadReckonUsingMultipleVelocitySources.platform_speed_wrt_ground (meter_per_second)
2025-12-06T21:54:50.297Z,1765058090.297 [CommandExec](IMPORTANT): RDI_Pathfinder.platform_velocity_wrt_ground (meter_per_second)
2025-12-06T21:54:50.298Z,1765058090.298 [CommandExec](IMPORTANT): RDI_Pathfinder.platform_x_velocity_wrt_ground (meter_per_second)
2025-12-06T21:54:50.298Z,1765058090.298 [CommandExec](IMPORTANT): RDI_Pathfinder.platform_y_velocity_wrt_ground (meter_per_second)
2025-12-06T21:54:50.311Z,1765058090.311 [CommandExec](IMPORTANT): RDI_Pathfinder.platform_z_velocity_wrt_ground (meter_per_second)
2025-12-06T21:54:55.511Z,1765058095.511 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:55:04.758Z,1765058104.758 [CommandExec](IMPORTANT): got command get RDI_Pathfinder.platform_x_velocity_wrt_ground
2025-12-06T21:55:04.758Z,1765058104.758 [CommandExec](IMPORTANT): RDI_Pathfinder.platform_x_velocity_wrt_ground 0.443000 m/s
2025-12-06T21:55:12.837Z,1765058112.837 [CommandExec](IMPORTANT): got command get platform_elevator_angle degree
2025-12-06T21:55:12.838Z,1765058112.838 [CommandExec](IMPORTANT): platform_elevator_angle 14.973630 arcdeg
2025-12-06T21:55:25.631Z,1765058125.631 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T21:55:26.635Z,1765058126.635 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:55:31.845Z,1765058131.845 [CommandExec](IMPORTANT): got command configSet VerticalControl.massDefault 0.75 centimeter persist
2025-12-06T21:55:36.052Z,1765058136.052 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:55:41.681Z,1765058141.681 [CommandExec](IMPORTANT): got command failComponent hardware ElevatorServo
2025-12-06T21:55:41.682Z,1765058141.682 [ElevatorServo] Hardware Fault, FailCount= 1
2025-12-06T21:55:41.682Z,1765058141.682 [ElevatorServo](ERROR): Hardware Fault
2025-12-06T21:55:41.682Z,1765058141.682 [CommandExec](IMPORTANT): ElevatorServo failureMode is Hardware Fault
2025-12-06T21:55:41.701Z,1765058141.701 [CBIT](ERROR): Hardware Fault in component: ElevatorServo
2025-12-06T21:55:42.104Z,1765058142.104 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-12-06T21:55:42.104Z,1765058142.104 [ElevatorServo](INFO): Powering down
2025-12-06T21:55:43.006Z,1765058143.006 [CBIT](INFO): Clearing failed state for component ElevatorServo
2025-12-06T21:55:43.006Z,1765058143.006 [ElevatorServo] No Fault, FailCount= 1
2025-12-06T21:55:43.205Z,1765058143.205 [ElevatorServo](DEBUG): Initializing EZServoServo.
2025-12-06T21:55:43.206Z,1765058143.206 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2025-12-06T21:55:45.195Z,1765058145.195 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:55:54.231Z,1765058154.231 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:56:03.207Z,1765058163.207 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:56:15.119Z,1765058175.119 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:56:17.696Z,1765058177.696 [CommandExec](IMPORTANT): got command failComponent
2025-12-06T21:56:17.696Z,1765058177.696 [CommandExec](IMPORTANT): Failed components:
2025-12-06T21:56:17.696Z,1765058177.696 [CommandExec](IMPORTANT): No failed Components.
2025-12-06T21:56:23.556Z,1765058183.556 [CommandExec](IMPORTANT): got command get platform_pitch_angle degree
2025-12-06T21:56:23.556Z,1765058183.556 [CommandExec](IMPORTANT): platform_pitch_angle -16.165803 arcdeg
2025-12-06T21:56:24.260Z,1765058184.260 [DataOverHttps](IMPORTANT): SBD MTMSN=20251206T215623
2025-12-06T21:57:24.414Z,1765058244.414 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.153706
2025-12-06T21:57:31.073Z,1765058251.073 [transit:NeedComms] Running Loop=1
2025-12-06T21:57:31.073Z,1765058251.073 [transit:NeedComms](DEBUG): Aggregate::initialize transit:NeedComms
2025-12-06T21:57:31.073Z,1765058251.073 [transit:NeedComms:C.GoToSurface] Running Loop=1
2025-12-06T21:57:31.073Z,1765058251.073 [transit:NeedComms:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-12-06T21:57:31.074Z,1765058251.074 [transit:NeedComms:C.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-12-06T21:57:31.074Z,1765058251.074 [transit:NeedComms:C.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-12-06T21:57:31.074Z,1765058251.074 [transit:NeedComms:C.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-12-06T21:57:31.087Z,1765058251.087 [transit:NeedComms:C.GoToSurface](INFO): Received surface timeout setting 1500.000000 seconds.
2025-12-06T21:57:31.087Z,1765058251.087 [transit:NeedComms:C.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-12-06T21:57:31.088Z,1765058251.088 [transit:NeedComms:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-12-06T21:57:31.088Z,1765058251.088 [transit:NeedComms:A] Running Loop=1
2025-12-06T21:57:31.090Z,1765058251.090 [transit:NeedComms:A](INFO): last time_fix was:  1765057530.000000 second since 1970/01/01T00:00:00Z 
2025-12-06T21:57:31.090Z,1765058251.090 [transit:NeedComms:A] Stopped
2025-12-06T21:57:31.095Z,1765058251.095 [transit:NeedComms:setActive] Running Loop=1
2025-12-06T21:57:31.095Z,1765058251.095 [transit:NeedComms:setActive](DEBUG): Aggregate::initialize transit:NeedComms:setActive
2025-12-06T21:57:31.095Z,1765058251.095 [transit:NeedComms:setActive:A] Running Loop=1
2025-12-06T21:57:31.483Z,1765058251.483 [transit:NeedComms:setActive:A] Stopped
2025-12-06T21:57:31.483Z,1765058251.483 [transit:NeedComms:setActive:B] Running Loop=1
2025-12-06T21:57:31.983Z,1765058251.983 [transit:NeedComms:setActive:B] Stopped
2025-12-06T21:57:31.983Z,1765058251.983 [transit:NeedComms:setActive](INFO): Completed transit:NeedComms:setActive
2025-12-06T21:57:31.983Z,1765058251.983 [transit:NeedComms:setActive] Stopped
2025-12-06T21:57:31.983Z,1765058251.983 [transit:NeedComms:setActive](DEBUG): Aggregate::uninitialize transit:NeedComms:setActive
2025-12-06T21:57:34.420Z,1765058254.420 [Radio_Surface](INFO): Powering down
2025-12-06T21:57:51.994Z,1765058271.994 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 860.26, 835.87, 982.23
2025-12-06T21:57:55.536Z,1765058275.536 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T21:57:56.539Z,1765058276.539 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-12-06T21:57:56.539Z,1765058276.539 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T21:58:03.394Z,1765058283.394 [BPC1](FAULT): Failed to receive data from all battery packs.
2025-12-06T21:58:03.394Z,1765058283.394 [BPC1] Communications Fault, FailCount= 1
2025-12-06T21:58:03.394Z,1765058283.394 [BPC1](ERROR): Communications Fault
2025-12-06T21:58:03.530Z,1765058283.530 [CBIT](ERROR): Communications Fault in component: BPC1
2025-12-06T21:58:16.400Z,1765058296.400 [transit:NeedComms:D] Running Loop=1
2025-12-06T21:58:16.825Z,1765058296.825 [transit:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-12-06T21:58:16.839Z,1765058296.839 [Radio_Surface](INFO): Powering up
2025-12-06T21:58:22.056Z,1765058302.056 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,  +262,  +677,   :WE,  +262,  +677,   +22,A
2025-12-06T21:58:22.112Z,1765058302.112 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-12-06T21:58:22.112Z,1765058302.112 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-12-06T21:58:26.659Z,1765058306.659 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T21:58:27.663Z,1765058307.663 [DataOverHttps](INFO): Radio surface powered ON.
2025-12-06T21:58:35.377Z,1765058315.377 [NAL9602](INFO): SBD MO Status=0, MOMSN=4582, MT Status=0, MTMSN=0
2025-12-06T21:58:35.377Z,1765058315.377 [NAL9602](INFO): No messages in MT queue
2025-12-06T21:58:36.593Z,1765058316.593 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,215835.00,A,3641.73699,N,12156.51224,W,0.428,329.94,061225,,,A*7E
2025-12-06T21:58:36.596Z,1765058316.596 [NAL9602](INFO): GPS fix at 20251206T215835: (36.695616, -121.941871)
2025-12-06T21:58:36.609Z,1765058316.609 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.779129,-121.859627
2025-12-06T21:58:36.612Z,1765058316.612 [transit:NeedComms:D] Stopped
2025-12-06T21:58:36.612Z,1765058316.612 [transit:NeedComms:E] Running Loop=1
2025-12-06T21:58:37.032Z,1765058317.032 [transit:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-12-06T21:58:57.791Z,1765058337.791 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T21:59:10.209Z,1765058350.209 [NAL9602](INFO): SBD MO Status=1, MOMSN=4583, MT Status=0, MTMSN=0
2025-12-06T21:59:10.275Z,1765058350.275 [NAL9602](INFO): Sent 73 bytes from file Logs/20251206T214309/Courier0004.lzma
2025-12-06T21:59:10.275Z,1765058350.275 [NAL9602](INFO): Packets left to send: 0
2025-12-06T21:59:20.437Z,1765058360.437 [NAL9602](INFO): SBD MO Status=1, MOMSN=4584, MT Status=0, MTMSN=0
2025-12-06T21:59:20.495Z,1765058360.495 [NAL9602](INFO): Sent 332 bytes from file Logs/20251206T214309/Express0001.lzma
2025-12-06T21:59:20.495Z,1765058360.495 [NAL9602](INFO): Packets left to send: 3
2025-12-06T21:59:28.915Z,1765058368.915 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T21:59:35.093Z,1765058375.093 [NAL9602](INFO): SBD MO Status=2, MOMSN=4585, MT Status=2, MTMSN=0
2025-12-06T21:59:35.093Z,1765058375.093 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-12-06T21:59:54.549Z,1765058394.549 [NAL9602](INFO): SBD MO Status=1, MOMSN=4585, MT Status=0, MTMSN=0
2025-12-06T21:59:54.615Z,1765058394.615 [NAL9602](INFO): Sent 332 bytes from file Logs/20251206T214309/Express0001.lzma
2025-12-06T21:59:54.615Z,1765058394.615 [NAL9602](INFO): Packets left to send: 2
2025-12-06T22:00:00.039Z,1765058400.039 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T22:00:03.926Z,1765058403.926 [NAL9602](INFO): SBD MO Status=1, MOMSN=4586, MT Status=0, MTMSN=0
2025-12-06T22:00:03.975Z,1765058403.975 [NAL9602](INFO): Sent 332 bytes from file Logs/20251206T214309/Express0001.lzma
2025-12-06T22:00:03.976Z,1765058403.976 [NAL9602](INFO): Packets left to send: 1
2025-12-06T22:00:10.865Z,1765058410.865 [NAL9602](INFO): SBD MO Status=1, MOMSN=4587, MT Status=0, MTMSN=0
2025-12-06T22:00:10.919Z,1765058410.919 [NAL9602](INFO): Sent 250 bytes from file Logs/20251206T214309/Express0001.lzma
2025-12-06T22:00:10.919Z,1765058410.919 [NAL9602](INFO): Packets left to send: 0
2025-12-06T22:00:31.175Z,1765058431.175 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T22:00:38.421Z,1765058438.421 [NAL9602](INFO): SBD MO Status=1, MOMSN=4588, MT Status=0, MTMSN=0
2025-12-06T22:00:38.495Z,1765058438.495 [NAL9602](INFO): Sent 332 bytes from file Logs/20251206T214309/Express0005.lzma
2025-12-06T22:00:38.495Z,1765058438.495 [NAL9602](INFO): Packets left to send: 3
2025-12-06T22:00:46.969Z,1765058446.969 [NAL9602](INFO): SBD MO Status=1, MOMSN=4589, MT Status=0, MTMSN=0
2025-12-06T22:00:47.019Z,1765058447.019 [NAL9602](INFO): Sent 332 bytes from file Logs/20251206T214309/Express0005.lzma
2025-12-06T22:00:47.019Z,1765058447.019 [NAL9602](INFO): Packets left to send: 2
2025-12-06T22:00:59.046Z,1765058459.046 [DataOverHttps](INFO): Received command: configSet VerticalControl.elevLimit 10 degree persist
2025-12-06T22:00:59.425Z,1765058459.425 [CommandExec](IMPORTANT): got command configSet VerticalControl.elevLimit 10 degree persist
2025-12-06T22:01:00.048Z,1765058460.048 [DataOverHttps](IMPORTANT): SBD MTMSN=20251206T220059
2025-12-06T22:01:00.053Z,1765058460.053 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004351
2025-12-06T22:01:00.793Z,1765058460.793 [NAL9602](INFO): SBD MO Status=1, MOMSN=4590, MT Status=0, MTMSN=0
2025-12-06T22:01:00.859Z,1765058460.859 [NAL9602](INFO): Sent 332 bytes from file Logs/20251206T214309/Express0005.lzma
2025-12-06T22:01:00.859Z,1765058460.859 [NAL9602](INFO): Packets left to send: 1
2025-12-06T22:01:00.932Z,1765058460.932 [transit:NeedComms:E] Stopped
2025-12-06T22:01:00.932Z,1765058460.932 [transit:NeedComms:F] Running Loop=1
2025-12-06T22:01:01.218Z,1765058461.218 [transit:NeedComms:F](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-12-06T22:01:03.222Z,1765058463.222 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,220102.00,A,3641.72764,N,12156.52627,W,0.486,232.93,061225,,,A*7B
2025-12-06T22:01:03.224Z,1765058463.224 [NAL9602](INFO): GPS fix at 20251206T220102: (36.695461, -121.942104)
2025-12-06T22:01:03.305Z,1765058463.305 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.779129,-121.859627
2025-12-06T22:01:03.329Z,1765058463.329 [transit:NeedComms:F] Stopped
2025-12-06T22:01:03.329Z,1765058463.329 [transit:NeedComms:setRestoreMode] Running Loop=1
2025-12-06T22:01:03.329Z,1765058463.329 [transit:NeedComms:setRestoreMode](DEBUG): Aggregate::initialize transit:NeedComms:setRestoreMode
2025-12-06T22:01:03.329Z,1765058463.329 [transit:NeedComms:setRestoreMode:A] Running Loop=1
2025-12-06T22:01:03.655Z,1765058463.655 [transit:NeedComms:setRestoreMode:A] Stopped
2025-12-06T22:01:03.655Z,1765058463.655 [transit:NeedComms:setRestoreMode](INFO): Completed transit:NeedComms:setRestoreMode
2025-12-06T22:01:03.655Z,1765058463.655 [transit:NeedComms:setRestoreMode] Stopped
2025-12-06T22:01:03.655Z,1765058463.655 [transit:NeedComms:setRestoreMode](DEBUG): Aggregate::uninitialize transit:NeedComms:setRestoreMode
2025-12-06T22:01:03.656Z,1765058463.656 [transit:NeedComms:setInactive] Running Loop=1
2025-12-06T22:01:03.656Z,1765058463.656 [transit:NeedComms:setInactive](DEBUG): Aggregate::initialize transit:NeedComms:setInactive
2025-12-06T22:01:03.656Z,1765058463.656 [transit:NeedComms:setInactive:A] Running Loop=1
2025-12-06T22:01:04.112Z,1765058464.112 [transit:NeedComms:setInactive:A] Stopped
2025-12-06T22:01:04.112Z,1765058464.112 [transit:NeedComms:setInactive](INFO): Completed transit:NeedComms:setInactive
2025-12-06T22:01:04.112Z,1765058464.112 [transit:NeedComms:setInactive] Stopped
2025-12-06T22:01:04.112Z,1765058464.112 [transit:NeedComms:setInactive](DEBUG): Aggregate::uninitialize transit:NeedComms:setInactive
2025-12-06T22:01:04.113Z,1765058464.113 [transit:NeedComms](INFO): Completed transit:NeedComms
2025-12-06T22:01:04.113Z,1765058464.113 [transit:NeedComms] Stopped
2025-12-06T22:01:04.113Z,1765058464.113 [transit:NeedComms](DEBUG): Aggregate::uninitialize transit:NeedComms
2025-12-06T22:01:04.113Z,1765058464.113 [transit:NeedComms:C.GoToSurface] Stopped
2025-12-06T22:01:04.113Z,1765058464.113 [transit:NeedComms:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-12-06T22:01:08.406Z,1765058468.406 [DataOverHttps](INFO): Received command: configSet verticalControl.massDefault 0.5 cm persist
2025-12-06T22:01:08.832Z,1765058468.832 [CommandExec](IMPORTANT): got command configSet VerticalControl.massDefault 0.5 centimeter persist
2025-12-06T22:01:10.411Z,1765058470.411 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:01:19.439Z,1765058479.439 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:01:28.723Z,1765058488.723 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:01:35.617Z,1765058495.617 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-06T22:01:37.753Z,1765058497.753 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:01:46.995Z,1765058506.995 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:01:57.851Z,1765058517.851 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 5.00 mm (1 active estimators).
2025-12-06T22:02:17.211Z,1765058537.211 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-12-06T22:02:18.215Z,1765058538.215 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:02:46.356Z,1765058566.356 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.363544
2025-12-06T22:02:47.359Z,1765058567.359 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:02:58.119Z,1765058578.119 [Radio_Surface](INFO): Powering down
2025-12-06T22:03:17.491Z,1765058597.491 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T22:03:18.496Z,1765058598.496 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-12-06T22:03:18.496Z,1765058598.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:03:48.615Z,1765058628.615 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T22:03:49.620Z,1765058629.620 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:04:19.739Z,1765058659.739 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T22:04:20.743Z,1765058660.743 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:04:50.863Z,1765058690.863 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T22:04:51.867Z,1765058691.867 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:05:21.995Z,1765058721.995 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T22:05:22.999Z,1765058722.999 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:05:25.498Z,1765058725.498 [transit](INFO): Timed out from 2025-12-06T21:50:25.4Z
2025-12-06T22:05:25.498Z,1765058725.498 [MissionManager](INFO): transit is completed.
2025-12-06T22:05:25.498Z,1765058725.498 [MissionManager](INFO): Uninitializing Mission transit
2025-12-06T22:05:25.498Z,1765058725.498 [transit] Stopped
2025-12-06T22:05:25.498Z,1765058725.498 [transit](DEBUG): Aggregate::uninitialize transit
2025-12-06T22:05:25.498Z,1765058725.498 [transit:StandardEnvelopes] Stopped
2025-12-06T22:05:25.499Z,1765058725.499 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-12-06T22:05:25.499Z,1765058725.499 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-12-06T22:05:25.499Z,1765058725.499 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-12-06T22:05:25.499Z,1765058725.499 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-12-06T22:05:25.499Z,1765058725.499 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-12-06T22:05:25.499Z,1765058725.499 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-12-06T22:05:25.499Z,1765058725.499 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-12-06T22:05:25.499Z,1765058725.499 [transit:BackseatDriver] Stopped
2025-12-06T22:05:25.499Z,1765058725.499 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-12-06T22:05:25.499Z,1765058725.499 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-12-06T22:05:25.499Z,1765058725.499 [transit:PowerOnly] Stopped
2025-12-06T22:05:25.500Z,1765058725.500 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-12-06T22:05:25.500Z,1765058725.500 [transit:PowerOnly:E.Wait] Stopped
2025-12-06T22:05:25.500Z,1765058725.500 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-12-06T22:05:25.500Z,1765058725.500 [transit:BuoyancyHold.Buoyancy] Stopped
2025-12-06T22:05:25.500Z,1765058725.500 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-12-06T22:05:25.500Z,1765058725.500 [transit:MassHold.Pitch] Stopped
2025-12-06T22:05:25.500Z,1765058725.500 [transit:Transit] Stopped
2025-12-06T22:05:25.500Z,1765058725.500 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-12-06T22:05:25.500Z,1765058725.500 [transit:Transit:A.Pitch] Stopped
2025-12-06T22:05:25.500Z,1765058725.500 [transit:Transit:B.SetSpeed] Stopped
2025-12-06T22:05:25.500Z,1765058725.500 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-12-06T22:05:25.500Z,1765058725.500 [transit:Transit:Wpt1.Waypoint] Stopped
2025-12-06T22:05:25.500Z,1765058725.500 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-12-06T22:05:25.915Z,1765058725.915 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-12-06T22:05:25.916Z,1765058725.916 [DefaultWithUndock] Running Loop=1
2025-12-06T22:05:25.916Z,1765058725.916 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-12-06T22:05:25.917Z,1765058725.917 [DefaultWithUndock:A.Wait] Running Loop=1
2025-12-06T22:05:25.917Z,1765058725.917 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-12-06T22:05:53.119Z,1765058753.119 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T22:05:54.123Z,1765058754.123 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:05:56.224Z,1765058756.224 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-12-06T22:05:56.224Z,1765058756.224 [DefaultWithUndock:A.Wait] Stopped
2025-12-06T22:05:56.224Z,1765058756.224 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-12-06T22:05:56.225Z,1765058756.225 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-12-06T22:05:56.225Z,1765058756.225 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-12-06T22:05:56.225Z,1765058756.225 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-12-06T22:05:56.225Z,1765058756.225 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-12-06T22:05:56.225Z,1765058756.225 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-12-06T22:05:56.225Z,1765058756.225 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-12-06T22:05:56.225Z,1765058756.225 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-06T22:05:56.619Z,1765058756.619 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-12-06T22:05:56.619Z,1765058756.619 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-06T22:05:56.620Z,1765058756.620 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 7.635941 m.
2025-12-06T22:05:56.621Z,1765058756.621 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-12-06T22:05:57.421Z,1765058757.421 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-06T22:05:57.536Z,1765058757.536 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-06T22:05:59.952Z,1765058759.952 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-12-06T22:06:01.100Z,1765058761.100 [DockingStepper](INFO): Changing to mode: 3
2025-12-06T22:06:06.337Z,1765058766.337 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-12-06T22:06:06.428Z,1765058766.428 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:06.428Z,1765058766.428 [DAT](INFO): setting remote address to 8
2025-12-06T22:06:06.679Z,1765058766.679 [DAT](INFO): DAT read: user:6>

2025-12-06T22:06:06.680Z,1765058766.680 [DAT](INFO): DAT read: RemoteAddr      | 8           

2025-12-06T22:06:06.681Z,1765058766.681 [DAT](INFO): set remote address to 8
2025-12-06T22:06:06.681Z,1765058766.681 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:06.681Z,1765058766.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-12-06T22:06:06.932Z,1765058766.932 [DAT](INFO): DAT read: user:7>

2025-12-06T22:06:06.932Z,1765058766.932 [DAT](INFO): DAT read: Tx time:22:06:06.0610

2025-12-06T22:06:06.933Z,1765058766.933 [DAT](INFO): Ping request sent.
2025-12-06T22:06:06.933Z,1765058766.933 [DAT](INFO): transmitted an acoustic signal
2025-12-06T22:06:06.933Z,1765058766.933 [DAT](INFO): publishing transmit ping time
2025-12-06T22:06:06.934Z,1765058766.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000919
2025-12-06T22:06:07.184Z,1765058767.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250910
2025-12-06T22:06:07.436Z,1765058767.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503354
2025-12-06T22:06:07.688Z,1765058767.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754939
2025-12-06T22:06:07.951Z,1765058767.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.017247
2025-12-06T22:06:08.200Z,1765058768.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267338
2025-12-06T22:06:08.452Z,1765058768.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519079
2025-12-06T22:06:08.704Z,1765058768.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770988
2025-12-06T22:06:08.956Z,1765058768.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022917
2025-12-06T22:06:09.208Z,1765058769.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275239
2025-12-06T22:06:09.460Z,1765058769.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526907
2025-12-06T22:06:09.713Z,1765058769.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780480
2025-12-06T22:06:09.967Z,1765058769.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033518
2025-12-06T22:06:10.216Z,1765058770.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282913
2025-12-06T22:06:10.468Z,1765058770.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534886
2025-12-06T22:06:10.720Z,1765058770.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786932
2025-12-06T22:06:10.972Z,1765058770.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038967
2025-12-06T22:06:11.224Z,1765058771.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290999
2025-12-06T22:06:11.476Z,1765058771.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542956
2025-12-06T22:06:11.728Z,1765058771.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795229
2025-12-06T22:06:11.980Z,1765058771.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047252
2025-12-06T22:06:12.232Z,1765058772.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298988
2025-12-06T22:06:12.484Z,1765058772.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551337
2025-12-06T22:06:12.500Z,1765058772.500 [DockingStepper](FAULT): Timed out moving from: 14817 to: 6111 response: ÿ
2025-12-06T22:06:12.500Z,1765058772.500 [DockingStepper] Hardware Fault, FailCount= 1
2025-12-06T22:06:12.500Z,1765058772.500 [DockingStepper](ERROR): Hardware Fault
2025-12-06T22:06:12.504Z,1765058772.504 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-12-06T22:06:12.736Z,1765058772.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803443
2025-12-06T22:06:12.789Z,1765058772.789 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-12-06T22:06:12.789Z,1765058772.789 [DockingStepper](INFO): Powering down
2025-12-06T22:06:12.988Z,1765058772.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054935
2025-12-06T22:06:13.240Z,1765058773.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306906
2025-12-06T22:06:13.492Z,1765058773.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558923
2025-12-06T22:06:13.744Z,1765058773.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811295
2025-12-06T22:06:14.001Z,1765058774.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.068407
2025-12-06T22:06:14.248Z,1765058774.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315210
2025-12-06T22:06:14.500Z,1765058774.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566972
2025-12-06T22:06:14.752Z,1765058774.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819215
2025-12-06T22:06:15.004Z,1765058775.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070918
2025-12-06T22:06:15.256Z,1765058775.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322987
2025-12-06T22:06:15.508Z,1765058775.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574903
2025-12-06T22:06:15.760Z,1765058775.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827377
2025-12-06T22:06:16.012Z,1765058776.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079098
2025-12-06T22:06:16.264Z,1765058776.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330892
2025-12-06T22:06:16.414Z,1765058776.414 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-12-06T22:06:16.516Z,1765058776.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583187
2025-12-06T22:06:16.768Z,1765058776.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835005
2025-12-06T22:06:17.019Z,1765058777.019 [DAT](INFO): Reached modem response timeout
2025-12-06T22:06:17.020Z,1765058777.020 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:17.020Z,1765058777.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-12-06T22:06:17.271Z,1765058777.271 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:17.523Z,1765058777.523 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:17.777Z,1765058777.777 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:18.028Z,1765058778.028 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:18.279Z,1765058778.279 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:18.531Z,1765058778.531 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:18.784Z,1765058778.784 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:19.035Z,1765058779.035 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:19.288Z,1765058779.288 [DAT](INFO): DAT read: Response Not Received

2025-12-06T22:06:19.288Z,1765058779.288 [DAT](INFO): response not received
2025-12-06T22:06:19.288Z,1765058779.288 [DAT](INFO): DAT read: user:8>

2025-12-06T22:06:19.289Z,1765058779.289 [DAT](INFO): DAT read: Tx time:22:06:18.5110

2025-12-06T22:06:19.289Z,1765058779.289 [DAT](INFO): Ping request sent.
2025-12-06T22:06:19.289Z,1765058779.289 [DAT](INFO): transmitted an acoustic signal
2025-12-06T22:06:19.290Z,1765058779.290 [DAT](INFO): publishing transmit ping time
2025-12-06T22:06:19.290Z,1765058779.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000724
2025-12-06T22:06:19.540Z,1765058779.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250278
2025-12-06T22:06:19.792Z,1765058779.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502234
2025-12-06T22:06:20.044Z,1765058780.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754328
2025-12-06T22:06:20.296Z,1765058780.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006419
2025-12-06T22:06:20.548Z,1765058780.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258233
2025-12-06T22:06:20.800Z,1765058780.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510145
2025-12-06T22:06:21.052Z,1765058781.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762470
2025-12-06T22:06:21.304Z,1765058781.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014284
2025-12-06T22:06:21.556Z,1765058781.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266151
2025-12-06T22:06:21.808Z,1765058781.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518438
2025-12-06T22:06:22.060Z,1765058782.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770470
2025-12-06T22:06:22.312Z,1765058782.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022130
2025-12-06T22:06:22.564Z,1765058782.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274189
2025-12-06T22:06:22.816Z,1765058782.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526228
2025-12-06T22:06:23.068Z,1765058783.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778097
2025-12-06T22:06:23.320Z,1765058783.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030147
2025-12-06T22:06:23.572Z,1765058783.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282194
2025-12-06T22:06:23.824Z,1765058783.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534132
2025-12-06T22:06:24.076Z,1765058784.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786545
2025-12-06T22:06:24.243Z,1765058784.243 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T22:06:24.328Z,1765058784.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038168
2025-12-06T22:06:24.584Z,1765058784.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293713
2025-12-06T22:06:24.832Z,1765058784.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542336
2025-12-06T22:06:25.084Z,1765058785.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794224
2025-12-06T22:06:25.247Z,1765058785.247 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:06:25.336Z,1765058785.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046166
2025-12-06T22:06:25.588Z,1765058785.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298159
2025-12-06T22:06:25.840Z,1765058785.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550241
2025-12-06T22:06:26.092Z,1765058786.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802204
2025-12-06T22:06:26.344Z,1765058786.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054413
2025-12-06T22:06:26.508Z,1765058786.508 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-12-06T22:06:26.596Z,1765058786.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306213
2025-12-06T22:06:26.848Z,1765058786.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558123
2025-12-06T22:06:27.100Z,1765058787.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810163
2025-12-06T22:06:27.352Z,1765058787.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062083
2025-12-06T22:06:27.604Z,1765058787.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314234
2025-12-06T22:06:27.856Z,1765058787.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566184
2025-12-06T22:06:28.108Z,1765058788.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818314
2025-12-06T22:06:28.360Z,1765058788.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070135
2025-12-06T22:06:28.612Z,1765058788.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322786
2025-12-06T22:06:28.864Z,1765058788.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574351
2025-12-06T22:06:29.116Z,1765058789.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826136
2025-12-06T22:06:29.367Z,1765058789.367 [DAT](INFO): Reached modem response timeout
2025-12-06T22:06:29.368Z,1765058789.368 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:29.368Z,1765058789.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-12-06T22:06:29.619Z,1765058789.619 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:29.871Z,1765058789.871 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:30.124Z,1765058790.124 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:30.375Z,1765058790.375 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:30.627Z,1765058790.627 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:30.880Z,1765058790.880 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:31.131Z,1765058791.131 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:31.383Z,1765058791.383 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:31.636Z,1765058791.636 [DAT](INFO): DAT read: Response Not Received

2025-12-06T22:06:31.636Z,1765058791.636 [DAT](INFO): response not received
2025-12-06T22:06:31.636Z,1765058791.636 [DAT](INFO): DAT read: user:9>

2025-12-06T22:06:31.637Z,1765058791.637 [DAT](ERROR): No response from remote modem.
2025-12-06T22:06:31.637Z,1765058791.637 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:31.637Z,1765058791.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-12-06T22:06:31.890Z,1765058791.890 [DAT](INFO): DAT read: Tx time:22:06:30.9610

2025-12-06T22:06:31.892Z,1765058791.892 [DAT](INFO): Ping request sent.
2025-12-06T22:06:31.892Z,1765058791.892 [DAT](INFO): transmitted an acoustic signal
2025-12-06T22:06:31.893Z,1765058791.893 [DAT](INFO): publishing transmit ping time
2025-12-06T22:06:31.893Z,1765058791.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765
2025-12-06T22:06:32.140Z,1765058792.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247384
2025-12-06T22:06:32.392Z,1765058792.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499572
2025-12-06T22:06:32.644Z,1765058792.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751334
2025-12-06T22:06:32.896Z,1765058792.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003275
2025-12-06T22:06:33.148Z,1765058793.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255294
2025-12-06T22:06:33.400Z,1765058793.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507425
2025-12-06T22:06:33.405Z,1765058793.405 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-12-06T22:06:33.405Z,1765058793.405 [DockingStepper] No Fault, FailCount= 1
2025-12-06T22:06:33.652Z,1765058793.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759296
2025-12-06T22:06:33.782Z,1765058793.782 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-06T22:06:33.896Z,1765058793.896 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-06T22:06:33.906Z,1765058793.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013285
2025-12-06T22:06:34.156Z,1765058794.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263348
2025-12-06T22:06:34.408Z,1765058794.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515271
2025-12-06T22:06:34.660Z,1765058794.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767316
2025-12-06T22:06:34.912Z,1765058794.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019327
2025-12-06T22:06:35.164Z,1765058795.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271270
2025-12-06T22:06:35.416Z,1765058795.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523208
2025-12-06T22:06:35.668Z,1765058795.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775297
2025-12-06T22:06:35.922Z,1765058795.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028969
2025-12-06T22:06:36.172Z,1765058796.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279511
2025-12-06T22:06:36.424Z,1765058796.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531764
2025-12-06T22:06:36.609Z,1765058796.609 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-12-06T22:06:36.676Z,1765058796.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783277
2025-12-06T22:06:36.928Z,1765058796.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035495
2025-12-06T22:06:37.180Z,1765058797.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287327
2025-12-06T22:06:37.429Z,1765058797.429 [DockingStepper](INFO): Changing to mode: 3
2025-12-06T22:06:37.434Z,1765058797.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541638
2025-12-06T22:06:37.684Z,1765058797.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791561
2025-12-06T22:06:37.938Z,1765058797.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045431
2025-12-06T22:06:38.188Z,1765058798.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295266
2025-12-06T22:06:38.440Z,1765058798.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.547355
2025-12-06T22:06:38.692Z,1765058798.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799407
2025-12-06T22:06:38.944Z,1765058798.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051289
2025-12-06T22:06:39.196Z,1765058799.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303245
2025-12-06T22:06:39.493Z,1765058799.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.600160
2025-12-06T22:06:39.707Z,1765058799.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815130
2025-12-06T22:06:39.977Z,1765058799.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069542
2025-12-06T22:06:40.217Z,1765058800.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.324806
2025-12-06T22:06:40.468Z,1765058800.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575369
2025-12-06T22:06:40.720Z,1765058800.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827275
2025-12-06T22:06:40.972Z,1765058800.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079559
2025-12-06T22:06:41.224Z,1765058801.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331276
2025-12-06T22:06:41.476Z,1765058801.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583417
2025-12-06T22:06:41.728Z,1765058801.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835582
2025-12-06T22:06:41.979Z,1765058801.979 [DAT](INFO): Reached modem response timeout
2025-12-06T22:06:41.980Z,1765058801.980 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:41.980Z,1765058801.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-12-06T22:06:42.231Z,1765058802.231 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:42.484Z,1765058802.484 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:42.736Z,1765058802.736 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:42.987Z,1765058802.987 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:43.240Z,1765058803.240 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:43.496Z,1765058803.496 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:43.748Z,1765058803.748 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:43.999Z,1765058803.999 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:44.264Z,1765058804.264 [DAT](INFO): DAT read: Response Not Received

2025-12-06T22:06:44.264Z,1765058804.264 [DAT](INFO): response not received
2025-12-06T22:06:44.264Z,1765058804.264 [DAT](INFO): DAT read: user:10>

2025-12-06T22:06:44.265Z,1765058804.265 [DAT](INFO): DAT read: Tx time:22:06:43.4110

2025-12-06T22:06:44.265Z,1765058804.265 [DAT](INFO): Ping request sent.
2025-12-06T22:06:44.265Z,1765058804.265 [DAT](INFO): transmitted an acoustic signal
2025-12-06T22:06:44.266Z,1765058804.266 [DAT](INFO): publishing transmit ping time
2025-12-06T22:06:44.266Z,1765058804.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719
2025-12-06T22:06:44.504Z,1765058804.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.238201
2025-12-06T22:06:44.756Z,1765058804.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.490512
2025-12-06T22:06:45.008Z,1765058805.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.742527
2025-12-06T22:06:45.260Z,1765058805.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994286
2025-12-06T22:06:45.512Z,1765058805.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246308
2025-12-06T22:06:45.764Z,1765058805.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498474
2025-12-06T22:06:46.016Z,1765058806.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750321
2025-12-06T22:06:46.268Z,1765058806.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002219
2025-12-06T22:06:46.520Z,1765058806.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254150
2025-12-06T22:06:46.708Z,1765058806.708 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-12-06T22:06:46.772Z,1765058806.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506393
2025-12-06T22:06:47.024Z,1765058807.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758208
2025-12-06T22:06:47.276Z,1765058807.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010494
2025-12-06T22:06:47.528Z,1765058807.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262362
2025-12-06T22:06:47.780Z,1765058807.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514153
2025-12-06T22:06:48.032Z,1765058808.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766197
2025-12-06T22:06:48.284Z,1765058808.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018283
2025-12-06T22:06:48.536Z,1765058808.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270193
2025-12-06T22:06:48.788Z,1765058808.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.522644
2025-12-06T22:06:48.827Z,1765058808.827 [DockingStepper](FAULT): Timed out moving from: 14830 to: 6111 response: ÿ
2025-12-06T22:06:48.827Z,1765058808.827 [DockingStepper] Hardware Fault, FailCount= 2
2025-12-06T22:06:48.827Z,1765058808.827 [DockingStepper](ERROR): Hardware Fault
2025-12-06T22:06:48.832Z,1765058808.832 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-12-06T22:06:49.040Z,1765058809.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774277
2025-12-06T22:06:49.143Z,1765058809.143 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-12-06T22:06:49.143Z,1765058809.143 [DockingStepper](INFO): Powering down
2025-12-06T22:06:49.292Z,1765058809.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.026193
2025-12-06T22:06:49.548Z,1765058809.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.282697
2025-12-06T22:06:49.800Z,1765058809.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.534228
2025-12-06T22:06:50.052Z,1765058810.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.786213
2025-12-06T22:06:50.304Z,1765058810.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.038231
2025-12-06T22:06:50.556Z,1765058810.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.290282
2025-12-06T22:06:50.808Z,1765058810.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.542277
2025-12-06T22:06:51.060Z,1765058811.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.794194
2025-12-06T22:06:51.312Z,1765058811.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.046214
2025-12-06T22:06:51.564Z,1765058811.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.298315
2025-12-06T22:06:51.816Z,1765058811.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.550554
2025-12-06T22:06:52.068Z,1765058812.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802340
2025-12-06T22:06:52.320Z,1765058812.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.054217
2025-12-06T22:06:52.572Z,1765058812.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.306427
2025-12-06T22:06:52.824Z,1765058812.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.558280
2025-12-06T22:06:53.076Z,1765058813.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.810207
2025-12-06T22:06:53.328Z,1765058813.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.062495
2025-12-06T22:06:53.580Z,1765058813.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314365
2025-12-06T22:06:53.832Z,1765058813.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.566223
2025-12-06T22:06:54.084Z,1765058814.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.818248
2025-12-06T22:06:54.336Z,1765058814.336 [DAT](INFO): Reached modem response timeout
2025-12-06T22:06:54.336Z,1765058814.336 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:54.336Z,1765058814.336 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-12-06T22:06:54.587Z,1765058814.587 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:54.839Z,1765058814.839 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:55.091Z,1765058815.091 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:55.193Z,1765058815.193 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-12-06T22:06:55.194Z,1765058815.194 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-12-06T22:06:55.194Z,1765058815.194 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-12-06T22:06:55.343Z,1765058815.343 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:55.367Z,1765058815.367 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T22:06:55.596Z,1765058815.596 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:55.727Z,1765058815.727 [Radio_Surface](INFO): Powering up
2025-12-06T22:06:55.847Z,1765058815.847 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:56.099Z,1765058816.099 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:56.351Z,1765058816.351 [DAT](DEBUG): Acoustic response timeout
2025-12-06T22:06:56.383Z,1765058816.383 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:06:56.604Z,1765058816.604 [DAT](INFO): DAT read: Response Not Received

2025-12-06T22:06:56.604Z,1765058816.604 [DAT](INFO): response not received
2025-12-06T22:06:56.604Z,1765058816.604 [DAT](INFO): DAT read: user:11>

2025-12-06T22:06:56.605Z,1765058816.605 [DAT](INFO): DAT read: Tx time:22:06:55.8610

2025-12-06T22:06:56.605Z,1765058816.605 [DAT](INFO): Ping request sent.
2025-12-06T22:06:56.606Z,1765058816.606 [DAT](INFO): transmitted an acoustic signal
2025-12-06T22:06:56.606Z,1765058816.606 [DAT](INFO): publishing transmit ping time
2025-12-06T22:06:56.606Z,1765058816.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-12-06T22:06:56.856Z,1765058816.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249961
2025-12-06T22:06:57.108Z,1765058817.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502115
2025-12-06T22:06:57.360Z,1765058817.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754101
2025-12-06T22:06:57.612Z,1765058817.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006215
2025-12-06T22:06:57.864Z,1765058817.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258350
2025-12-06T22:06:58.116Z,1765058818.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510129
2025-12-06T22:06:58.368Z,1765058818.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762058
2025-12-06T22:06:58.621Z,1765058818.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015040
2025-12-06T22:06:58.872Z,1765058818.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266075
2025-12-06T22:06:59.124Z,1765058819.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518051
2025-12-06T22:06:59.376Z,1765058819.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770075
2025-12-06T22:06:59.628Z,1765058819.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022243
2025-12-06T22:06:59.880Z,1765058819.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274063
2025-12-06T22:07:00.132Z,1765058820.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526350
2025-12-06T22:07:00.384Z,1765058820.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778074
2025-12-06T22:07:00.636Z,1765058820.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030061
2025-12-06T22:07:00.888Z,1765058820.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282061
2025-12-06T22:07:00.979Z,1765058820.979 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-12-06T22:07:00.979Z,1765058820.979 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-12-06T22:07:01.140Z,1765058821.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534102
2025-12-06T22:07:01.392Z,1765058821.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786062
2025-12-06T22:07:01.644Z,1765058821.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038445
2025-12-06T22:07:01.896Z,1765058821.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290076
2025-12-06T22:07:02.148Z,1765058822.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542053
2025-12-06T22:07:02.400Z,1765058822.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794507
2025-12-06T22:07:02.652Z,1765058822.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046125
2025-12-06T22:07:02.904Z,1765058822.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298028
2025-12-06T22:07:03.156Z,1765058823.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550379
2025-12-06T22:07:03.408Z,1765058823.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802035
2025-12-06T22:07:03.660Z,1765058823.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053937
2025-12-06T22:07:03.915Z,1765058823.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308815
2025-12-06T22:07:04.164Z,1765058824.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558163
2025-12-06T22:07:04.416Z,1765058824.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810019
2025-12-06T22:07:04.668Z,1765058824.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062097
2025-12-06T22:07:04.920Z,1765058824.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314128
2025-12-06T22:07:05.172Z,1765058825.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566036
2025-12-06T22:07:05.429Z,1765058825.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823058
2025-12-06T22:07:05.680Z,1765058825.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074098
2025-12-06T22:07:05.934Z,1765058825.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327846
2025-12-06T22:07:06.184Z,1765058826.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578078
2025-12-06T22:07:06.436Z,1765058826.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830077
2025-12-06T22:07:06.687Z,1765058826.687 [DAT](INFO): Reached modem response timeout
2025-12-06T22:07:09.208Z,1765058829.208 [DAT](INFO): DAT read: Response Not Received

2025-12-06T22:07:09.208Z,1765058829.208 [DAT](INFO): response not received
2025-12-06T22:07:09.208Z,1765058829.208 [DAT](INFO): DAT read: user:12>

2025-12-06T22:07:09.209Z,1765058829.209 [DAT](INFO): DAT read: Tx time:22:07:08.3110

2025-12-06T22:07:09.209Z,1765058829.209 [DAT](INFO): Ping request sent.
2025-12-06T22:07:09.209Z,1765058829.209 [DAT](INFO): transmitted an acoustic signal
2025-12-06T22:07:09.210Z,1765058829.210 [DAT](INFO): publishing transmit ping time
2025-12-06T22:07:09.210Z,1765058829.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-12-06T22:07:09.460Z,1765058829.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250203
2025-12-06T22:07:09.716Z,1765058829.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506212
2025-12-06T22:07:09.740Z,1765058829.740 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-12-06T22:07:09.740Z,1765058829.740 [DockingStepper] No Fault, FailCount= 2
2025-12-06T22:07:09.969Z,1765058829.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759869
2025-12-06T22:07:10.157Z,1765058830.157 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-06T22:07:10.220Z,1765058830.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010295
2025-12-06T22:07:10.272Z,1765058830.272 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-06T22:07:10.472Z,1765058830.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262088
2025-12-06T22:07:10.724Z,1765058830.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514061
2025-12-06T22:07:10.976Z,1765058830.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766212
2025-12-06T22:07:11.228Z,1765058831.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018215
2025-12-06T22:07:11.480Z,1765058831.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270443
2025-12-06T22:07:11.737Z,1765058831.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527489
2025-12-06T22:07:11.988Z,1765058831.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778082
2025-12-06T22:07:12.240Z,1765058832.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030383
2025-12-06T22:07:12.492Z,1765058832.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282107
2025-12-06T22:07:12.744Z,1765058832.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534248
2025-12-06T22:07:12.996Z,1765058832.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786089
2025-12-06T22:07:13.248Z,1765058833.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038184
2025-12-06T22:07:13.500Z,1765058833.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290169
2025-12-06T22:07:13.752Z,1765058833.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542284
2025-12-06T22:07:13.796Z,1765058833.796 [DockingStepper](INFO): Changing to mode: 3
2025-12-06T22:07:14.004Z,1765058834.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794138
2025-12-06T22:07:14.256Z,1765058834.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046222
2025-12-06T22:07:14.508Z,1765058834.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298273
2025-12-06T22:07:14.760Z,1765058834.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550208
2025-12-06T22:07:15.012Z,1765058835.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802342
2025-12-06T22:07:15.264Z,1765058835.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054375
2025-12-06T22:07:15.396Z,1765058835.396 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2025-12-06T22:07:15.516Z,1765058835.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306113
2025-12-06T22:07:15.768Z,1765058835.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558147
2025-12-06T22:07:15.791Z,1765058835.791 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-12-06T22:07:16.020Z,1765058836.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810096
2025-12-06T22:07:16.231Z,1765058836.231 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-12-06T22:07:16.231Z,1765058836.231 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-12-06T22:07:16.231Z,1765058836.231 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-12-06T22:07:16.231Z,1765058836.231 [DefaultWithUndock:LeaveDock] Stopped
2025-12-06T22:07:16.231Z,1765058836.231 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-12-06T22:07:16.232Z,1765058836.232 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-12-06T22:07:16.232Z,1765058836.232 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-12-06T22:07:16.232Z,1765058836.232 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-12-06T22:07:16.232Z,1765058836.232 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-12-06T22:07:16.232Z,1765058836.232 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-12-06T22:07:16.233Z,1765058836.233 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-12-06T22:07:16.234Z,1765058836.234 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-12-06T22:07:16.238Z,1765058836.238 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-12-06T22:07:16.239Z,1765058836.239 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-12-06T22:07:16.239Z,1765058836.239 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-12-06T22:07:16.272Z,1765058836.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062475
2025-12-06T22:07:16.524Z,1765058836.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314023
2025-12-06T22:07:16.603Z,1765058836.603 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-12-06T22:07:16.603Z,1765058836.603 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-12-06T22:07:16.604Z,1765058836.604 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-12-06T22:07:16.776Z,1765058836.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566123
2025-12-06T22:07:17.028Z,1765058837.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818244
2025-12-06T22:07:17.280Z,1765058837.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070113
2025-12-06T22:07:17.532Z,1765058837.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322409
2025-12-06T22:07:17.789Z,1765058837.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.579175
2025-12-06T22:07:18.036Z,1765058838.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826355
2025-12-06T22:07:18.288Z,1765058838.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078067
2025-12-06T22:07:18.540Z,1765058838.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330095
2025-12-06T22:07:18.608Z,1765058838.608 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,220717.00,A,3641.75609,N,12156.49061,W,0.117,192.41,061225,,,A*71
2025-12-06T22:07:18.611Z,1765058838.611 [NAL9602](INFO): GPS fix at 20251206T220717: (36.695935, -121.941510)
2025-12-06T22:07:18.622Z,1765058838.622 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-12-06T22:07:18.622Z,1765058838.622 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-12-06T22:07:18.792Z,1765058838.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582307
2025-12-06T22:07:19.044Z,1765058839.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834216
2025-12-06T22:07:21.564Z,1765058841.564 [DAT](INFO): DAT read: Response Not Received

2025-12-06T22:07:21.564Z,1765058841.564 [DAT](INFO): response not received
2025-12-06T22:07:21.564Z,1765058841.564 [DAT](ERROR): No response from remote modem.
2025-12-06T22:07:25.379Z,1765058845.379 [DockingStepper](FAULT): Timed out moving from: 14815 to: 6111 response: ÿ
2025-12-06T22:07:25.379Z,1765058845.379 [DockingStepper] Hardware Fault, FailCount= 3
2025-12-06T22:07:25.379Z,1765058845.379 [DockingStepper](ERROR): Hardware Fault
2025-12-06T22:07:25.384Z,1765058845.384 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-12-06T22:07:26.507Z,1765058846.507 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T22:07:27.511Z,1765058847.511 [DataOverHttps](INFO): Radio surface powered ON.
2025-12-06T22:07:27.511Z,1765058847.511 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:07:27.560Z,1765058847.560 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-12-06T22:07:27.560Z,1765058847.560 [DockingStepper](INFO): Powering down
2025-12-06T22:07:33.653Z,1765058853.653 [NAL9602](INFO): SBD MO Status=1, MOMSN=4591, MT Status=0, MTMSN=0
2025-12-06T22:07:33.723Z,1765058853.723 [NAL9602](INFO): Sent 73 bytes from file Logs/20251206T214309/Courier0007.lzma
2025-12-06T22:07:33.723Z,1765058853.723 [NAL9602](INFO): Packets left to send: 0
2025-12-06T22:07:48.384Z,1765058868.384 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-12-06T22:07:48.384Z,1765058868.384 [DockingStepper] No Fault, FailCount= 3
2025-12-06T22:07:48.752Z,1765058868.752 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-06T22:07:48.868Z,1765058868.868 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-06T22:07:52.345Z,1765058872.345 [NAL9602](INFO): SBD MO Status=1, MOMSN=4592, MT Status=0, MTMSN=0
2025-12-06T22:07:52.407Z,1765058872.407 [NAL9602](INFO): Sent 162 bytes from file Logs/20251206T214309/Express0005.lzma
2025-12-06T22:07:52.407Z,1765058872.407 [NAL9602](INFO): Packets left to send: 0
2025-12-06T22:07:52.513Z,1765058872.513 [DockingStepper](INFO): Changing to mode: 3
2025-12-06T22:07:57.643Z,1765058877.643 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T22:07:58.647Z,1765058878.647 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:08:03.933Z,1765058883.933 [DockingStepper](FAULT): Timed out moving from: 14817 to: 6111 response: ÿ
2025-12-06T22:08:03.933Z,1765058883.933 [DockingStepper] Hardware Fault, FailCount= 4
2025-12-06T22:08:03.933Z,1765058883.933 [DockingStepper](ERROR): Hardware Fault
2025-12-06T22:08:03.950Z,1765058883.950 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-12-06T22:08:04.268Z,1765058884.268 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-12-06T22:08:04.268Z,1765058884.268 [DockingStepper](INFO): Powering down
2025-12-06T22:08:04.656Z,1765058884.656 [CBIT](INFO): Clearing failed state for component BPC1
2025-12-06T22:08:04.656Z,1765058884.656 [BPC1] No Fault, FailCount= 1
2025-12-06T22:08:11.061Z,1765058891.061 [NAL9602](INFO): SBD MO Status=1, MOMSN=4593, MT Status=0, MTMSN=0
2025-12-06T22:08:11.119Z,1765058891.119 [NAL9602](INFO): Sent 332 bytes from file Logs/20251206T214309/Express0008.lzma
2025-12-06T22:08:11.119Z,1765058891.119 [NAL9602](INFO): Packets left to send: 1
2025-12-06T22:08:24.984Z,1765058904.984 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-12-06T22:08:24.984Z,1765058904.984 [DockingStepper] No Fault, FailCount= 4
2025-12-06T22:08:25.364Z,1765058905.364 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-06T22:08:25.484Z,1765058905.484 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-06T22:08:28.787Z,1765058908.787 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T22:08:28.000Z,1765058909.000 [DockingStepper](INFO): Changing to mode: 3
2025-12-06T22:08:29.791Z,1765058909.791 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:08:34.214Z,1765058914.214 [NAL9602](INFO): SBD MO Status=1, MOMSN=4594, MT Status=0, MTMSN=0
2025-12-06T22:08:34.267Z,1765058914.267 [NAL9602](INFO): Sent 308 bytes from file Logs/20251206T214309/Express0008.lzma
2025-12-06T22:08:34.268Z,1765058914.268 [NAL9602](INFO): Packets left to send: 0
2025-12-06T22:08:40.387Z,1765058920.387 [DockingStepper](FAULT): Timed out moving from: 14815 to: 6111 response: ÿ
2025-12-06T22:08:40.387Z,1765058920.387 [DockingStepper] Hardware Fault, FailCount= 5
2025-12-06T22:08:40.387Z,1765058920.387 [DockingStepper](ERROR): Hardware Fault
2025-12-06T22:08:40.392Z,1765058920.392 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-12-06T22:08:40.392Z,1765058920.392 [CBIT](CRITICAL): Hardware Fault in component: DockingStepper
2025-12-06T22:08:40.699Z,1765058920.699 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-12-06T22:08:40.699Z,1765058920.699 [DockingStepper](INFO): Powering down
2025-12-06T22:08:40.701Z,1765058920.701 [CommandExec](FAULT): Scheduling is paused
2025-12-06T22:08:40.702Z,1765058920.702 [CBIT](INFO): Critical error at 20251206T220840
2025-12-06T22:08:40.702Z,1765058920.702 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-12-06T22:08:42.306Z,1765058922.306 [NAL9602](INFO): SBD MO Status=0, MOMSN=4595, MT Status=0, MTMSN=0
2025-12-06T22:08:42.405Z,1765058922.405 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-12-06T22:08:42.405Z,1765058922.405 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-12-06T22:08:42.405Z,1765058922.405 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-12-06T22:08:59.920Z,1765058939.920 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T22:09:00.923Z,1765058940.923 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:09:10.603Z,1765058950.603 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-12-06T22:09:10.603Z,1765058950.603 [DockingStepper] No Fault, FailCount= 5
2025-12-06T22:09:11.021Z,1765058951.021 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-06T22:09:11.140Z,1765058951.140 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-06T22:09:12.992Z,1765058952.992 [NAL9602](INFO): Not Powering down - fast GPS
2025-12-06T22:09:14.625Z,1765058954.625 [DockingStepper](INFO): Changing to mode: 3
2025-12-06T22:09:26.135Z,1765058966.135 [DockingStepper](FAULT): Timed out moving from: 14815 to: 6111 response: ÿ
2025-12-06T22:09:26.135Z,1765058966.135 [DockingStepper] Hardware Fault, FailCount= 1
2025-12-06T22:09:26.135Z,1765058966.135 [DockingStepper](ERROR): Hardware Fault
2025-12-06T22:09:26.140Z,1765058966.140 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-12-06T22:09:26.359Z,1765058966.359 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-12-06T22:09:26.359Z,1765058966.359 [DockingStepper](INFO): Powering down
2025-12-06T22:09:31.043Z,1765058971.043 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-12-06T22:09:32.047Z,1765058972.047 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:09:36.028Z,1765058976.028 [DAT](INFO): DAT read: user:13>Rx Time:22:09:34.7029

2025-12-06T22:09:36.028Z,1765058976.028 [DAT](INFO): Rx dataTimestamp_ set to:1765058976.028088
2025-12-06T22:09:36.029Z,1765058976.029 [DAT](INFO): DAT read: 

2025-12-06T22:09:36.029Z,1765058976.029 [DAT](INFO): DAT read: $Packet for address 0

2025-12-06T22:09:36.030Z,1765058976.030 [DAT](INFO): received a packet notification
2025-12-06T22:09:39.780Z,1765058979.780 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003249
2025-12-06T22:09:40.779Z,1765058980.779 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:09:46.948Z,1765058986.948 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-12-06T22:09:46.948Z,1765058986.948 [DockingStepper] No Fault, FailCount= 1
2025-12-06T22:09:47.360Z,1765058987.360 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-06T22:09:47.480Z,1765058987.480 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-06T22:09:49.575Z,1765058989.575 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:09:50.983Z,1765058990.983 [DockingStepper](INFO): Changing to mode: 3
2025-12-06T22:09:57.369Z,1765058997.369 [DataOverHttps](IMPORTANT): SBD MTMSN=20251206T220956
2025-12-06T22:10:02.559Z,1765059002.559 [DockingStepper](FAULT): Timed out moving from: 14816 to: 6111 response: ÿ
2025-12-06T22:10:02.559Z,1765059002.559 [DockingStepper] Hardware Fault, FailCount= 2
2025-12-06T22:10:02.560Z,1765059002.560 [DockingStepper](ERROR): Hardware Fault
2025-12-06T22:10:02.619Z,1765059002.619 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-12-06T22:10:02.780Z,1765059002.780 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-12-06T22:10:02.780Z,1765059002.780 [DockingStepper](INFO): Powering down
2025-12-06T22:10:07.483Z,1765059007.483 [DataOverHttps](INFO): Received command: load Transport/transit.tl;set transit.MissionTimeout 20 min;set transit.NeedCommsTime 19 min;set transit.Latitude 36.77913 degree;set transit.Longitude -121.85963 degree;run
2025-12-06T22:10:07.604Z,1765059007.604 [CommandExec](IMPORTANT): got command load ./Missions/Transport/transit.tl
2025-12-06T22:10:07.605Z,1765059007.605 [MissionManager](INFO): Loading Mission from file: ./Missions/Transport/transit.tl
2025-12-06T22:10:07.605Z,1765059007.605 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Transport/transit.tl
2025-12-06T22:10:07.606Z,1765059007.606 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Transport/transit.tl
2025-12-06T22:10:08.516Z,1765059008.516 [MissionManager](DEBUG): TethyslAPI: ./Missions/Transport/transit.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="transit">
    <DefineArg Name="MissionTimeout">
        <Units:minute />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Northings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Eastings">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Depth">
        <Units:meter />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="Speed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="MassHold">
        <True />
    </DefineArg>
    <DefineArg Name="BuoyancyHold">
        <True />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:second />
        <Value>1</Value>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold" />
        </While>
        <Setting>
            <Guidance:Buoyancy.position />
            <Control:VerticalControl.buoyancyNeutral />
        </Setting>
    </Guidance:Buoyancy>
    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold" />
        </While>
        <Setting>
            <Guidance:Pitch.massPosition />
            <Control:VerticalControl.massDefault />
        </Setting>
    </Guidance:Pitch>
    <Aggregate Id="Transit">
        <Sequence />
        <Guidance:Pitch>
            <Parallel />
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="Depth" />
            </Setting>
        </Guidance:Pitch>
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="Speed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Waypoint Id="Wpt1">
            <Sequence />
            <Setting>
                <Guidance:Waypoint.latitude />
                <Arg Name="Latitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.longitude />
                <Arg Name="Longitude" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.northingsDelta />
                <Arg Name="Northings" />
            </Setting>
            <Setting>
                <Guidance:Waypoint.eastingsDelta />
                <Arg Name="Eastings" />
            </Setting>
        </Guidance:Waypoint>
        <Call RefId="NeedComms" Id="PhoneHome" PriorityHere="false" />
    </Aggregate>
</Mission>

2025-12-06T22:10:08.521Z,1765059008.521 [MissionManager](INFO): DefineArg transit.MissionTimeout = 60.000000 min
2025-12-06T22:10:08.523Z,1765059008.523 [MissionManager](INFO): DefineArg transit.NeedCommsTime = 30.000000 min
2025-12-06T22:10:08.525Z,1765059008.525 [MissionManager](INFO): DefineArg transit.Latitude = nan arcdeg
2025-12-06T22:10:08.558Z,1765059008.558 [MissionManager](INFO): DefineArg transit.Longitude = nan arcdeg
2025-12-06T22:10:08.560Z,1765059008.560 [MissionManager](INFO): DefineArg transit.Northings = 0.000000 m
2025-12-06T22:10:08.562Z,1765059008.562 [MissionManager](INFO): DefineArg transit.Eastings = 0.000000 m
2025-12-06T22:10:08.565Z,1765059008.565 [MissionManager](INFO): DefineArg transit.Depth = 10.000000 m
2025-12-06T22:10:08.567Z,1765059008.567 [MissionManager](INFO): DefineArg transit.Speed = 1.000000 m/s
2025-12-06T22:10:08.569Z,1765059008.569 [MissionManager](INFO): DefineArg transit.MaxDepth = 20.000000 m
2025-12-06T22:10:08.573Z,1765059008.573 [MissionManager](INFO): DefineArg transit.MinOffshore = 1.000000 km
2025-12-06T22:10:08.575Z,1765059008.575 [MissionManager](INFO): DefineArg transit.MinAltitude = 7.000000 m
2025-12-06T22:10:08.577Z,1765059008.577 [MissionManager](INFO): DefineArg transit.MassHold = 1 bool
2025-12-06T22:10:08.607Z,1765059008.607 [MissionManager](INFO): DefineArg transit.BuoyancyHold = 1 bool
2025-12-06T22:10:08.608Z,1765059008.608 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-12-06T22:10:08.608Z,1765059008.608 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-12-06T22:10:08.609Z,1765059008.609 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-12-06T22:10:08.992Z,1765059008.992 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1500</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="DoingCommsMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="RestoreMode">
        <Units:count />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="IsActive">
        <False />
    </DefineOutput>
    <DefineOutput Name="RequiredDiveMode">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Aggregate Id="setActive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="DoingCommsMode" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <True />
        </Assign>
    </Aggregate>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <Aggregate Id="setRestoreMode">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="RequiredDiveMode" />
            <Arg Name="RestoreMode" />
        </Assign>
    </Aggregate>
    <Aggregate Id="setInactive">
        <Sequence />
        <Assign>
            <Sequence />
            <Arg Name="IsActive" />
            <False />
        </Assign>
    </Aggregate>
</Aggregate>

2025-12-06T22:10:08.998Z,1765059008.998 [MissionManager](INFO): DefineArg transit:NeedComms.DiveInterval = 1.000000 h
2025-12-06T22:10:09.001Z,1765059009.001 [MissionManager](INFO): DefineArg transit:NeedComms.WaitForPitchUp = 10.000000 min
2025-12-06T22:10:09.003Z,1765059009.003 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-12-06T22:10:09.005Z,1765059009.005 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceDepthRate = nan m/s
2025-12-06T22:10:09.007Z,1765059009.007 [MissionManager](INFO): DefineArg transit:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-12-06T22:10:09.009Z,1765059009.009 [MissionManager](INFO): DefineArg transit:NeedComms.SurfacingTimeout = 1500.000000 s
2025-12-06T22:10:09.049Z,1765059009.049 [MissionManager](INFO): DefineArg transit:NeedComms.GPSTimeout = 7.000000 min
2025-12-06T22:10:09.055Z,1765059009.055 [MissionManager](INFO): DefineArg transit:NeedComms.CommsTimeout = 30.000000 min
2025-12-06T22:10:09.057Z,1765059009.057 [MissionManager](INFO): DefineArg transit:NeedComms.DoingCommsMode = 0.000000 count
2025-12-06T22:10:09.061Z,1765059009.061 [MissionManager](INFO): DefineArg transit:NeedComms.RestoreMode = 0.000000 count
2025-12-06T22:10:09.083Z,1765059009.083 [MissionManager](INFO): DefineOutput transit:NeedComms.IsActive = 0 bool
2025-12-06T22:10:09.086Z,1765059009.086 [MissionManager](INFO): DefineOutput transit:NeedComms.RequiredDiveMode = 0.000000 count
2025-12-06T22:10:09.126Z,1765059009.126 [transit:NeedComms:C.GoToSurface](DEBUG): Construct GoToSurface.
2025-12-06T22:10:09.147Z,1765059009.147 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-12-06T22:10:09.147Z,1765059009.147 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-12-06T22:10:09.148Z,1765059009.148 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-12-06T22:10:09.287Z,1765059009.287 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-12-06T22:10:09.291Z,1765059009.291 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinAltitude = 5.000000 m
2025-12-06T22:10:09.293Z,1765059009.293 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-12-06T22:10:09.296Z,1765059009.296 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MaxDepth = 200.000000 m
2025-12-06T22:10:09.298Z,1765059009.298 [MissionManager](INFO): DefineArg transit:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-12-06T22:10:09.299Z,1765059009.299 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-12-06T22:10:09.305Z,1765059009.305 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-12-06T22:10:09.311Z,1765059009.311 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-12-06T22:10:09.319Z,1765059009.319 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-12-06T22:10:09.319Z,1765059009.319 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-12-06T22:10:09.320Z,1765059009.320 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-12-06T22:10:09.391Z,1765059009.391 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-12-06T22:10:09.394Z,1765059009.394 [MissionManager](INFO): DefineArg transit:BackseatDriver.EnableBackseat = 0 bool
2025-12-06T22:10:09.396Z,1765059009.396 [transit:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-12-06T22:10:09.398Z,1765059009.398 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-12-06T22:10:09.398Z,1765059009.398 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-12-06T22:10:09.400Z,1765059009.400 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-12-06T22:10:09.487Z,1765059009.487 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:10:09.518Z,1765059009.518 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-12-06T22:10:09.521Z,1765059009.521 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleAll = 0 bool
2025-12-06T22:10:09.523Z,1765059009.523 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad1 = 0 bool
2025-12-06T22:10:09.525Z,1765059009.525 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad2 = 0 bool
2025-12-06T22:10:09.527Z,1765059009.527 [MissionManager](INFO): DefineArg transit:PowerOnly.SampleLoad3 = 0 bool
2025-12-06T22:10:09.529Z,1765059009.529 [MissionManager](INFO): DefineArg transit:PowerOnly.EnabledPowerOnly = 0 bool
2025-12-06T22:10:09.607Z,1765059009.607 [transit:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-12-06T22:10:09.609Z,1765059009.609 [transit:BuoyancyHold.Buoyancy](DEBUG): Construct Buoyancy.
2025-12-06T22:10:09.622Z,1765059009.622 [transit:MassHold.Pitch](DEBUG): Construct.
2025-12-06T22:10:09.642Z,1765059009.642 [transit:Transit:A.Pitch](DEBUG): Construct.
2025-12-06T22:10:09.660Z,1765059009.660 [transit:Transit:B.SetSpeed](DEBUG): Construct.
2025-12-06T22:10:09.662Z,1765059009.662 [transit:Transit:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2025-12-06T22:10:09.702Z,1765059009.702 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission transit {
  """
  Vehicle dives immediately with no comms/GPS and transits to desired waypoint and can be commanded to use/hold
  mass or buoyancy.
  """

  arguments {
    MissionTimeout = 60 minute
      """
      Maximum duration of mission
      """

    NeedCommsTime = 30 minute
      """
      How often to surface for commumications
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to seek. If set to NaN, uses latitude at mission
      initialization.
      """

    Longitude = NaN degree
      """
      Longitude of waypoint to seek. If set to NaN, uses longitude at mission
      initialization.
      """

    Northings = 0 meter
      """
      Northward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Eastings = 0 meter
      """
      Eastward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Depth = 10 meter
      """
      Depth of flat and level flight during the mission.
      """

    Speed = 1 meter_per_second
      """
      Speed of vehicle (relative to water) during the mission.
      """

    MaxDepth = 20 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 1 kilometer
      """
      Minimum distance offshore for the entire mission.
      """

    MinAltitude = 7 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MassHold = true
      """
      Set to True in order to hold mass at default position, False to allow
      mass to run on its own.
      """

    BuoyancyHold = true
      """
      Set to True in order to hold buoyancy at neutral position, False to
      allow buoyancy to run on its own.
      """
  }

  timeout duration=MissionTimeout

  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime

  assign in sequence NeedComms:WaitForPitchUp = 1 second

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  behavior Guidance:Buoyancy id="BuoyancyHold" {
    run while ( BuoyancyHold )

    set position = Control:VerticalControl.buoyancyNeutral
  }

  behavior Guidance:Pitch id="MassHold" {
    run while ( MassHold )

    set massPosition = Control:VerticalControl.massDefault
  }

  aggregate Transit {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set depth = Depth
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

    behavior Guidance:Waypoint id="Wpt1" {
      run in sequence

      set latitude = Latitude
      set longitude = Longitude
      set northingsDelta = Northings
      set eastingsDelta = Eastings
    }

    call id="PhoneHome" priorityHere=false refId="NeedComms"
  }
}


2025-12-06T22:10:09.702Z,1765059009.702 [CommandExec](IMPORTANT): Loaded ./Missions/Transport/transit.tl id=transit
2025-12-06T22:10:21.975Z,1765059021.975 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:10:23.376Z,1765059023.376 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-12-06T22:10:23.376Z,1765059023.376 [DockingStepper] No Fault, FailCount= 2
2025-12-06T22:10:23.756Z,1765059023.756 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-06T22:10:23.872Z,1765059023.872 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-06T22:10:24.009Z,1765059024.009 [CommandExec](IMPORTANT): got command set transit.MissionTimeout 20 minute
2025-12-06T22:10:24.010Z,1765059024.010 [CommandExec](IMPORTANT): got command set transit.NeedCommsTime 19 minute
2025-12-06T22:10:24.015Z,1765059024.015 [CommandExec](IMPORTANT): got command set transit.Latitude 36.77913 degree
2025-12-06T22:10:24.016Z,1765059024.016 [CommandExec](IMPORTANT): got command set transit.Longitude -121.85963 degree
2025-12-06T22:10:24.016Z,1765059024.016 [CommandExec](IMPORTANT): got command run
2025-12-06T22:10:24.018Z,1765059024.018 [CommandExec](IMPORTANT): Running 
2025-12-06T22:10:24.187Z,1765059024.187 [DefaultWithUndock] Stopped
2025-12-06T22:10:24.187Z,1765059024.187 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-12-06T22:10:24.187Z,1765059024.187 [DefaultWithUndock:SurfaceDefault] Stopped
2025-12-06T22:10:24.187Z,1765059024.187 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-12-06T22:10:24.187Z,1765059024.187 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-12-06T22:10:24.187Z,1765059024.187 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-12-06T22:10:24.187Z,1765059024.187 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-12-06T22:10:24.188Z,1765059024.188 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-12-06T22:10:24.188Z,1765059024.188 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-12-06T22:10:24.188Z,1765059024.188 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-12-06T22:10:24.188Z,1765059024.188 [MissionManager](IMPORTANT): Started mission transit
2025-12-06T22:10:24.188Z,1765059024.188 [transit] Running Loop=1
2025-12-06T22:10:24.188Z,1765059024.188 [transit](DEBUG): Aggregate::initialize transit
2025-12-06T22:10:24.188Z,1765059024.188 [transit:StandardEnvelopes] Running Loop=1
2025-12-06T22:10:24.188Z,1765059024.188 [transit:StandardEnvelopes](DEBUG): Aggregate::initialize transit:StandardEnvelopes
2025-12-06T22:10:24.189Z,1765059024.189 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-12-06T22:10:24.189Z,1765059024.189 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-12-06T22:10:24.189Z,1765059024.189 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-12-06T22:10:24.189Z,1765059024.189 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-12-06T22:10:24.189Z,1765059024.189 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-12-06T22:10:24.189Z,1765059024.189 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-12-06T22:10:24.189Z,1765059024.189 [transit:BackseatDriver] Running Loop=1
2025-12-06T22:10:24.189Z,1765059024.189 [transit:BackseatDriver](DEBUG): Aggregate::initialize transit:BackseatDriver
2025-12-06T22:10:24.189Z,1765059024.189 [transit:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-12-06T22:10:24.189Z,1765059024.189 [transit:PowerOnly] Running Loop=1
2025-12-06T22:10:24.190Z,1765059024.190 [transit:PowerOnly](DEBUG): Aggregate::initialize transit:PowerOnly
2025-12-06T22:10:24.190Z,1765059024.190 [transit:PowerOnly:A] Running Loop=1
2025-12-06T22:10:24.190Z,1765059024.190 [transit:PowerOnly:B] Running Loop=1
2025-12-06T22:10:24.190Z,1765059024.190 [transit:PowerOnly:C] Running Loop=1
2025-12-06T22:10:24.190Z,1765059024.190 [transit:PowerOnly:D] Running Loop=1
2025-12-06T22:10:24.190Z,1765059024.190 [transit:PowerOnly:E.Wait] Running Loop=1
2025-12-06T22:10:24.190Z,1765059024.190 [transit:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-12-06T22:10:24.190Z,1765059024.190 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-12-06T22:10:24.190Z,1765059024.190 [transit:BuoyancyHold.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-12-06T22:10:24.190Z,1765059024.190 [transit:MassHold.Pitch] Running Loop=1
2025-12-06T22:10:24.190Z,1765059024.190 [transit:MassHold.Pitch](DEBUG): Initialize.
2025-12-06T22:10:24.200Z,1765059024.200 [transit:B] Running Loop=1
2025-12-06T22:10:24.201Z,1765059024.201 [transit:MassHold.Pitch] Running Loop=1
2025-12-06T22:10:24.203Z,1765059024.203 [transit:BuoyancyHold.Buoyancy] Running Loop=1
2025-12-06T22:10:24.203Z,1765059024.203 [transit:PowerOnly] Running Loop=1
2025-12-06T22:10:24.204Z,1765059024.204 [transit:PowerOnly:D] Stopped
2025-12-06T22:10:24.204Z,1765059024.204 [transit:PowerOnly:C] Stopped
2025-12-06T22:10:24.204Z,1765059024.204 [transit:PowerOnly:B] Stopped
2025-12-06T22:10:24.204Z,1765059024.204 [transit:PowerOnly:A] Stopped
2025-12-06T22:10:24.204Z,1765059024.204 [transit:BackseatDriver] Running Loop=1
2025-12-06T22:10:24.204Z,1765059024.204 [transit:StandardEnvelopes] Running Loop=1
2025-12-06T22:10:24.204Z,1765059024.204 [transit:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-12-06T22:10:24.204Z,1765059024.204 [transit:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-12-06T22:10:24.205Z,1765059024.205 [transit:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-12-06T22:10:24.205Z,1765059024.205 [transit:B] Stopped
2025-12-06T22:10:24.205Z,1765059024.205 [transit:C] Running Loop=1
2025-12-06T22:10:24.569Z,1765059024.569 [transit:C] Stopped
2025-12-06T22:10:24.569Z,1765059024.569 [transit:E] Running Loop=1
2025-12-06T22:10:24.972Z,1765059024.972 [transit:E] Stopped
2025-12-06T22:10:24.972Z,1765059024.972 [transit:F] Running Loop=1
2025-12-06T22:10:25.360Z,1765059025.360 [transit:F] Stopped
2025-12-06T22:10:25.360Z,1765059025.360 [transit:G] Running Loop=1
2025-12-06T22:10:25.765Z,1765059025.765 [transit:G] Stopped
2025-12-06T22:10:25.765Z,1765059025.765 [transit:Transit] Running Loop=1
2025-12-06T22:10:25.765Z,1765059025.765 [transit:Transit](DEBUG): Aggregate::initialize transit:Transit
2025-12-06T22:10:25.765Z,1765059025.765 [transit:Transit:A.Pitch] Running Loop=1
2025-12-06T22:10:25.766Z,1765059025.766 [transit:Transit:A.Pitch](DEBUG): Initialize.
2025-12-06T22:10:25.766Z,1765059025.766 [transit:Transit:B.SetSpeed] Running Loop=1
2025-12-06T22:10:25.766Z,1765059025.766 [transit:Transit:B.SetSpeed](DEBUG): Initialize.
2025-12-06T22:10:25.766Z,1765059025.766 [transit:Transit:Wpt1.Waypoint] Running Loop=1
2025-12-06T22:10:25.766Z,1765059025.766 [transit:Transit:Wpt1.Waypoint](DEBUG): Initialize WaypointComponent.
2025-12-06T22:10:25.771Z,1765059025.771 [transit:Transit:Wpt1.Waypoint](IMPORTANT): Navigating to waypoint: 36.779129,-121.859627
2025-12-06T22:10:26.195Z,1765059026.195 [transit:Transit:Wpt1.Waypoint](INFO): Navigating to waypoint: 36.779129,-121.859627
2025-12-06T22:10:26.196Z,1765059026.196 [transit:Transit:B.SetSpeed] Running Loop=1
2025-12-06T22:10:26.196Z,1765059026.196 [transit:Transit:A.Pitch] Running Loop=1
2025-12-06T22:10:27.544Z,1765059027.544 [DockingStepper](INFO): Changing to mode: 3
2025-12-06T22:10:31.227Z,1765059031.227 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:10:38.659Z,1765059038.659 [DockingStepper](FAULT): Timed out moving from: 14815 to: 6111 response: ÿ
2025-12-06T22:10:38.659Z,1765059038.659 [DockingStepper] Hardware Fault, FailCount= 3
2025-12-06T22:10:38.659Z,1765059038.659 [DockingStepper](ERROR): Hardware Fault
2025-12-06T22:10:38.734Z,1765059038.734 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-12-06T22:10:38.999Z,1765059038.999 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-12-06T22:10:38.999Z,1765059038.999 [DockingStepper](INFO): Powering down
2025-12-06T22:10:40.683Z,1765059040.683 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:10:49.859Z,1765059049.859 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:10:59.067Z,1765059059.067 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:10:59.961Z,1765059059.961 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-12-06T22:10:59.961Z,1765059059.961 [DockingStepper] No Fault, FailCount= 3
2025-12-06T22:11:00.092Z,1765059060.092 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-06T22:11:00.212Z,1765059060.212 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-06T22:11:03.688Z,1765059063.688 [DockingStepper](INFO): Changing to mode: 3
2025-12-06T22:11:07.803Z,1765059067.803 [CommandExec](IMPORTANT): got command get platform_elevator_angle degree
2025-12-06T22:11:07.804Z,1765059067.804 [CommandExec](IMPORTANT): platform_elevator_angle 7.898106 arcdeg
2025-12-06T22:11:10.175Z,1765059070.175 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:11:11.136Z,1765059071.136 [CommandExec](IMPORTANT): got command show stack
2025-12-06T22:11:11.136Z,1765059071.136 [CommandExec](IMPORTANT): Behavior Stack:

2025-12-06T22:11:11.137Z,1765059071.137 [transit:StandardEnvelopes](IMPORTANT): Priority 0: transit:StandardEnvelopes:A.AltitudeEnvelope
2025-12-06T22:11:11.137Z,1765059071.137 [transit:StandardEnvelopes](IMPORTANT): Priority 1: transit:StandardEnvelopes:B.DepthEnvelope
2025-12-06T22:11:11.137Z,1765059071.137 [transit:StandardEnvelopes](IMPORTANT): Priority 2: transit:StandardEnvelopes:C.OffshoreEnvelope
2025-12-06T22:11:11.138Z,1765059071.138 [transit:BackseatDriver](IMPORTANT): Priority 3: transit:BackseatDriver:A.BackseatDriver
2025-12-06T22:11:11.138Z,1765059071.138 [transit:PowerOnly](IMPORTANT): Priority 4: transit:PowerOnly:E.Wait
2025-12-06T22:11:11.138Z,1765059071.138 [transit](IMPORTANT): Priority 5: transit:BuoyancyHold.Buoyancy
2025-12-06T22:11:11.139Z,1765059071.139 [transit](IMPORTANT): Priority 6: transit:MassHold.Pitch
2025-12-06T22:11:11.140Z,1765059071.140 [transit:Transit](IMPORTANT): Priority 7: transit:Transit:A.Pitch
2025-12-06T22:11:11.140Z,1765059071.140 [transit:Transit](IMPORTANT): Priority 8: transit:Transit:B.SetSpeed
2025-12-06T22:11:11.140Z,1765059071.140 [transit:Transit](IMPORTANT): Priority 9: transit:Transit:Wpt1.Waypoint
2025-12-06T22:11:15.251Z,1765059075.251 [DockingStepper](FAULT): Timed out moving from: 14816 to: 6111 response: ÿ
2025-12-06T22:11:15.251Z,1765059075.251 [DockingStepper] Hardware Fault, FailCount= 4
2025-12-06T22:11:15.251Z,1765059075.251 [DockingStepper](ERROR): Hardware Fault
2025-12-06T22:11:15.270Z,1765059075.270 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-12-06T22:11:15.568Z,1765059075.568 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-12-06T22:11:15.568Z,1765059075.568 [DockingStepper](INFO): Powering down
2025-12-06T22:11:19.515Z,1765059079.515 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:11:28.971Z,1765059088.971 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:11:36.358Z,1765059096.358 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-12-06T22:11:36.358Z,1765059096.358 [DockingStepper] No Fault, FailCount= 4
2025-12-06T22:11:36.588Z,1765059096.588 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-06T22:11:36.704Z,1765059096.704 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-06T22:11:38.120Z,1765059098.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:11:40.522Z,1765059100.522 [DockingStepper](INFO): Changing to mode: 3
2025-12-06T22:11:47.377Z,1765059107.377 [CommandExec](IMPORTANT): got command get SpeedControl.speedCmd
2025-12-06T22:11:47.378Z,1765059107.378 [CommandExec](IMPORTANT): SpeedControl.speedCmd 1.000000 m/s
2025-12-06T22:11:49.436Z,1765059109.436 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:11:50.934Z,1765059110.934 [CommandExec](IMPORTANT): got command show variable wrt_Gr
2025-12-06T22:11:50.937Z,1765059110.937 [CommandExec](IMPORTANT): platform_distance_wrt_ground (unknown)
2025-12-06T22:11:50.938Z,1765059110.938 [CommandExec](IMPORTANT): platform_speed_wrt_ground (meter_per_second)
2025-12-06T22:11:50.938Z,1765059110.938 [CommandExec](IMPORTANT): platform_velocity_wrt_ground (meter_per_second)
2025-12-06T22:11:50.963Z,1765059110.963 [CommandExec](IMPORTANT): platform_x_velocity_wrt_ground (meter_per_second)
2025-12-06T22:11:50.964Z,1765059110.964 [CommandExec](IMPORTANT): platform_y_velocity_wrt_ground (meter_per_second)
2025-12-06T22:11:50.965Z,1765059110.965 [CommandExec](IMPORTANT): platform_z_velocity_wrt_ground (meter_per_second)
2025-12-06T22:11:51.165Z,1765059111.165 [CommandExec](IMPORTANT): DeadReckonUsingMultipleVelocitySources.platform_speed_wrt_ground (meter_per_second)
2025-12-06T22:11:51.181Z,1765059111.181 [CommandExec](IMPORTANT): RDI_Pathfinder.platform_velocity_wrt_ground (meter_per_second)
2025-12-06T22:11:51.181Z,1765059111.181 [CommandExec](IMPORTANT): RDI_Pathfinder.platform_x_velocity_wrt_ground (meter_per_second)
2025-12-06T22:11:51.182Z,1765059111.182 [CommandExec](IMPORTANT): RDI_Pathfinder.platform_y_velocity_wrt_ground (meter_per_second)
2025-12-06T22:11:51.182Z,1765059111.182 [CommandExec](IMPORTANT): RDI_Pathfinder.platform_z_velocity_wrt_ground (meter_per_second)
2025-12-06T22:11:52.055Z,1765059112.055 [DockingStepper](FAULT): Timed out moving from: 14799 to: 6111 response: ÿ
2025-12-06T22:11:52.056Z,1765059112.056 [DockingStepper] Hardware Fault, FailCount= 5
2025-12-06T22:11:52.056Z,1765059112.056 [DockingStepper](ERROR): Hardware Fault
2025-12-06T22:11:52.150Z,1765059112.150 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-12-06T22:11:52.151Z,1765059112.151 [CBIT](CRITICAL): Hardware Fault in component: DockingStepper
2025-12-06T22:11:52.328Z,1765059112.328 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-12-06T22:11:52.328Z,1765059112.328 [DockingStepper](INFO): Powering down
2025-12-06T22:11:52.536Z,1765059112.536 [CBIT](INFO): Critical error at 20251206T221152
2025-12-06T22:11:52.536Z,1765059112.536 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-12-06T22:11:52.683Z,1765059112.683 [MissionManager](INFO): MissionManager is completed.
2025-12-06T22:11:52.683Z,1765059112.683 [MissionManager](INFO): Uninitializing Mission transit
2025-12-06T22:11:52.683Z,1765059112.683 [transit] Stopped
2025-12-06T22:11:52.683Z,1765059112.683 [transit](DEBUG): Aggregate::uninitialize transit
2025-12-06T22:11:52.683Z,1765059112.683 [transit:StandardEnvelopes] Stopped
2025-12-06T22:11:52.683Z,1765059112.683 [transit:StandardEnvelopes](DEBUG): Aggregate::uninitialize transit:StandardEnvelopes
2025-12-06T22:11:52.684Z,1765059112.684 [transit:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-12-06T22:11:52.684Z,1765059112.684 [transit:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-12-06T22:11:52.684Z,1765059112.684 [transit:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-12-06T22:11:52.684Z,1765059112.684 [transit:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-12-06T22:11:52.684Z,1765059112.684 [transit:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-12-06T22:11:52.684Z,1765059112.684 [transit:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-12-06T22:11:52.684Z,1765059112.684 [transit:BackseatDriver] Stopped
2025-12-06T22:11:52.684Z,1765059112.684 [transit:BackseatDriver](DEBUG): Aggregate::uninitialize transit:BackseatDriver
2025-12-06T22:11:52.684Z,1765059112.684 [transit:BackseatDriver:A.BackseatDriver] Stopped
2025-12-06T22:11:52.684Z,1765059112.684 [transit:PowerOnly] Stopped
2025-12-06T22:11:52.684Z,1765059112.684 [transit:PowerOnly](DEBUG): Aggregate::uninitialize transit:PowerOnly
2025-12-06T22:11:52.684Z,1765059112.684 [transit:PowerOnly:E.Wait] Stopped
2025-12-06T22:11:52.684Z,1765059112.684 [transit:PowerOnly:E.Wait](DEBUG): Uninitialize Wait Component.
2025-12-06T22:11:52.685Z,1765059112.685 [transit:BuoyancyHold.Buoyancy] Stopped
2025-12-06T22:11:52.685Z,1765059112.685 [transit:BuoyancyHold.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-12-06T22:11:52.685Z,1765059112.685 [transit:MassHold.Pitch] Stopped
2025-12-06T22:11:52.685Z,1765059112.685 [transit:Transit] Stopped
2025-12-06T22:11:52.685Z,1765059112.685 [transit:Transit](DEBUG): Aggregate::uninitialize transit:Transit
2025-12-06T22:11:52.685Z,1765059112.685 [transit:Transit:A.Pitch] Stopped
2025-12-06T22:11:52.685Z,1765059112.685 [transit:Transit:B.SetSpeed] Stopped
2025-12-06T22:11:52.685Z,1765059112.685 [transit:Transit:B.SetSpeed](DEBUG): Uninitialize.
2025-12-06T22:11:52.685Z,1765059112.685 [transit:Transit:Wpt1.Waypoint] Stopped
2025-12-06T22:11:52.685Z,1765059112.685 [transit:Transit:Wpt1.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-12-06T22:11:53.042Z,1765059113.042 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-12-06T22:11:53.042Z,1765059113.042 [DefaultWithUndock] Running Loop=1
2025-12-06T22:11:53.047Z,1765059113.047 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-12-06T22:11:53.047Z,1765059113.047 [DefaultWithUndock:A.Wait] Running Loop=1
2025-12-06T22:11:53.047Z,1765059113.047 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-12-06T22:11:58.587Z,1765059118.587 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:12:11.491Z,1765059131.491 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:12:12.236Z,1765059132.236 [CommandExec](IMPORTANT): got command get RDI_Pathfinder.platform_x_velocity_wrt_ground
2025-12-06T22:12:12.237Z,1765059132.237 [CommandExec](IMPORTANT): RDI_Pathfinder.platform_x_velocity_wrt_ground 0.211000 m/s
2025-12-06T22:12:20.563Z,1765059140.563 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:12:22.184Z,1765059142.184 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-12-06T22:12:22.184Z,1765059142.184 [DockingStepper] No Fault, FailCount= 5
2025-12-06T22:12:22.552Z,1765059142.552 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-06T22:12:22.673Z,1765059142.673 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-06T22:12:23.340Z,1765059143.340 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-12-06T22:12:23.340Z,1765059143.340 [DefaultWithUndock:A.Wait] Stopped
2025-12-06T22:12:23.340Z,1765059143.340 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-12-06T22:12:23.340Z,1765059143.340 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-12-06T22:12:23.340Z,1765059143.340 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-12-06T22:12:23.340Z,1765059143.340 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-12-06T22:12:23.340Z,1765059143.341 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-12-06T22:12:23.341Z,1765059143.341 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-12-06T22:12:23.341Z,1765059143.341 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-12-06T22:12:23.341Z,1765059143.341 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-06T22:12:23.752Z,1765059143.752 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-12-06T22:12:23.752Z,1765059143.752 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-12-06T22:12:23.753Z,1765059143.753 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 0.128473 m.
2025-12-06T22:12:23.753Z,1765059143.753 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-12-06T22:12:23.753Z,1765059143.753 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-12-06T22:12:24.181Z,1765059144.181 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-12-06T22:12:26.272Z,1765059146.272 [DockingStepper](INFO): Changing to mode: 3
2025-12-06T22:12:29.448Z,1765059149.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:12:37.595Z,1765059157.595 [DockingStepper](FAULT): Timed out moving from: 14815 to: 6111 response: ÿ
2025-12-06T22:12:37.595Z,1765059157.595 [DockingStepper] Hardware Fault, FailCount= 1
2025-12-06T22:12:37.595Z,1765059157.595 [DockingStepper](ERROR): Hardware Fault
2025-12-06T22:12:37.601Z,1765059157.601 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-12-06T22:12:37.932Z,1765059157.932 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-12-06T22:12:37.932Z,1765059157.932 [DockingStepper](INFO): Powering down
2025-12-06T22:12:39.215Z,1765059159.215 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:12:44.354Z,1765059164.354 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2025-12-06T22:12:44.768Z,1765059164.768 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-12-06T22:12:45.148Z,1765059165.148 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-12-06T22:12:45.149Z,1765059165.149 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-12-06T22:12:45.149Z,1765059165.149 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-12-06T22:12:45.149Z,1765059165.149 [DefaultWithUndock:LeaveDock] Stopped
2025-12-06T22:12:45.149Z,1765059165.149 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-12-06T22:12:45.149Z,1765059165.149 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-12-06T22:12:45.149Z,1765059165.149 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-12-06T22:12:45.149Z,1765059165.149 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-12-06T22:12:45.150Z,1765059165.150 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-12-06T22:12:45.150Z,1765059165.150 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-12-06T22:12:45.150Z,1765059165.150 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-12-06T22:12:45.150Z,1765059165.150 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-12-06T22:12:45.151Z,1765059165.151 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-12-06T22:12:45.151Z,1765059165.151 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-12-06T22:12:45.152Z,1765059165.152 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-12-06T22:12:45.543Z,1765059165.543 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-12-06T22:12:45.543Z,1765059165.543 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-12-06T22:12:45.543Z,1765059165.543 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-12-06T22:12:47.557Z,1765059167.557 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221246.00,A,3641.74457,N,12156.50753,W,0.194,195.04,061225,,,A*7A
2025-12-06T22:12:47.568Z,1765059167.568 [NAL9602](INFO): GPS fix at 20251206T221246: (36.695743, -121.941792)
2025-12-06T22:12:47.580Z,1765059167.580 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-12-06T22:12:47.580Z,1765059167.580 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-12-06T22:12:55.554Z,1765059175.554 [DataOverHttps](INFO): Sending 153 bytes from file Logs/20251206T214309/Courier0010.lzma
2025-12-06T22:12:56.557Z,1765059176.557 [DataOverHttps](INFO): Moved sent file to Logs/20251206T214309/Courier0010.lzma.bak
2025-12-06T22:12:56.557Z,1765059176.557 [DataOverHttps](INFO): SBD MOMSN=26447271
2025-12-06T22:12:58.528Z,1765059178.528 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-12-06T22:12:58.528Z,1765059178.528 [DockingStepper] No Fault, FailCount= 1
2025-12-06T22:12:58.912Z,1765059178.912 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-12-06T22:12:59.032Z,1765059179.032 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-12-06T22:13:02.573Z,1765059182.573 [DockingStepper](INFO): Changing to mode: 3
2025-12-06T22:13:08.565Z,1765059188.565 [NAL9602](INFO): SBD MO Status=0, MOMSN=4596, MT Status=0, MTMSN=0
2025-12-06T22:13:08.565Z,1765059188.565 [NAL9602](INFO): No messages in MT queue
2025-12-06T22:13:13.673Z,1765059193.673 [DataOverHttps](INFO): Sending 1100 bytes from file Logs/20251206T214309/Express0011.lzma
2025-12-06T22:13:13.967Z,1765059193.967 [DockingStepper](FAULT): Timed out moving from: 14815 to: 6111 response: ÿ
2025-12-06T22:13:13.967Z,1765059193.967 [DockingStepper] Hardware Fault, FailCount= 2
2025-12-06T22:13:13.967Z,1765059193.967 [DockingStepper](ERROR): Hardware Fault
2025-12-06T22:13:13.972Z,1765059193.972 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-12-06T22:13:14.225Z,1765059194.225 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00061313.6,   0.0,1502.4,  0
2025-12-06T22:13:14.308Z,1765059194.308 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-12-06T22:13:14.308Z,1765059194.308 [DockingStepper](INFO): Powering down
2025-12-06T22:13:14.673Z,1765059194.673 [DataOverHttps](INFO): Moved sent file to Logs/20251206T214309/Express0011.lzma.bak
2025-12-06T22:13:14.673Z,1765059194.673 [DataOverHttps](INFO): SBD MOMSN=26447279
2025-12-06T22:13:15.852Z,1765059195.852 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-12-06T22:13:15.852Z,1765059195.852 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-12-06T22:13:15.852Z,1765059195.852 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-12-06T22:13:16.368Z,1765059196.368 [CommandExec](IMPORTANT): got command configSet DockingStepper.loadAtStartup 0 bool persist
2025-12-06T22:13:16.369Z,1765059196.369 [CommandExec](IMPORTANT): configSet DockingStepper.loadAtStartup requires a restart to take effect.
2025-12-06T22:13:24.647Z,1765059204.647 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-12-06T22:13:25.244Z,1765059205.244 [CommandExec](IMPORTANT): got command restart application
2025-12-06T22:13:26.247Z,1765059206.247 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2025-12-06T22:13:26.247Z,1765059206.247 [CommandExec](INFO): Uninitializing the command executive.
2025-12-06T22:13:26.247Z,1765059206.247 [CommandExec](INFO): Uninitializing the command scheduler.
2025-12-06T22:13:26.247Z,1765059206.247 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:26.331Z,1765059206.331 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2025-12-06T22:13:26.331Z,1765059206.331 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2025-12-06T22:13:26.331Z,1765059206.331 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:26.332Z,1765059206.332 [NavChartDb](INFO): Join timeout helper Thread ID is 1541
2025-12-06T22:13:26.531Z,1765059206.531 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2025-12-06T22:13:26.531Z,1765059206.531 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:26.538Z,1765059206.538 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2025-12-06T22:13:26.538Z,1765059206.538 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:26.551Z,1765059206.551 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 1542
2025-12-06T22:13:27.028Z,1765059207.028 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2025-12-06T22:13:27.030Z,1765059207.030 [WetLabsBB2FL](INFO): Powering down
2025-12-06T22:13:27.032Z,1765059207.032 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:27.035Z,1765059207.035 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2025-12-06T22:13:27.035Z,1765059207.035 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:27.035Z,1765059207.035 [CTD_Seabird](INFO): Join timeout helper Thread ID is 1543
2025-12-06T22:13:27.855Z,1765059207.855 [CTD_Seabird](INFO): Powering down
2025-12-06T22:13:27.867Z,1765059207.867 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2025-12-06T22:13:27.867Z,1765059207.867 [CTD_Seabird](INFO): Powering down
2025-12-06T22:13:27.879Z,1765059207.879 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:27.887Z,1765059207.887 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2025-12-06T22:13:27.887Z,1765059207.887 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:27.888Z,1765059207.888 [Radio_Surface](INFO): Join timeout helper Thread ID is 1544
2025-12-06T22:13:28.155Z,1765059208.155 [Radio_Surface](INFO): Powering down
2025-12-06T22:13:28.156Z,1765059208.156 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2025-12-06T22:13:28.156Z,1765059208.156 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:28.167Z,1765059208.167 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2025-12-06T22:13:28.167Z,1765059208.167 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:28.167Z,1765059208.167 [Onboard](INFO): Join timeout helper Thread ID is 1545
2025-12-06T22:13:32.715Z,1765059212.715 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2025-12-06T22:13:32.715Z,1765059212.715 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:32.732Z,1765059212.732 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2025-12-06T22:13:32.732Z,1765059212.732 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:32.732Z,1765059212.732 [DataOverHttps](INFO): Join timeout helper Thread ID is 1546
2025-12-06T22:13:33.363Z,1765059213.363 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2025-12-06T22:13:33.366Z,1765059213.366 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:33.371Z,1765059213.371 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2025-12-06T22:13:33.372Z,1765059213.372 [DAT ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:33.372Z,1765059213.372 [DAT](INFO): Join timeout helper Thread ID is 1547
2025-12-06T22:13:33.596Z,1765059213.596 [DAT](INFO): Powering down
2025-12-06T22:13:33.672Z,1765059213.672 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2025-12-06T22:13:33.673Z,1765059213.673 [DAT](INFO): Powering down
2025-12-06T22:13:33.674Z,1765059213.674 [DAT ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:33.692Z,1765059213.692 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2025-12-06T22:13:33.692Z,1765059213.692 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:33.692Z,1765059213.692 [BackseatComponent](INFO): Join timeout helper Thread ID is 1548
2025-12-06T22:13:33.731Z,1765059213.731 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2025-12-06T22:13:33.731Z,1765059213.731 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:33.747Z,1765059213.747 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2025-12-06T22:13:33.748Z,1765059213.748 [logger ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:33.748Z,1765059213.748 [logger](INFO): Join timeout helper Thread ID is 1549
2025-12-06T22:13:33.763Z,1765059213.763 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2025-12-06T22:13:33.763Z,1765059213.763 [logger ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:33.767Z,1765059213.767 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2025-12-06T22:13:33.768Z,1765059213.768 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:33.768Z,1765059213.768 [CommandLine](INFO): Join timeout helper Thread ID is 1550
2025-12-06T22:13:33.823Z,1765059213.823 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2025-12-06T22:13:33.823Z,1765059213.823 [CommandLine ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:33.827Z,1765059213.827 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2025-12-06T22:13:33.828Z,1765059213.828 [CommandExec ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:33.828Z,1765059213.828 [CommandExec](INFO): Join timeout helper Thread ID is 1551
2025-12-06T22:13:33.829Z,1765059213.829 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2025-12-06T22:13:33.829Z,1765059213.829 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:33.830Z,1765059213.830 [controlThread](INFO): Join timeout helper Thread ID is 1552
2025-12-06T22:13:33.995Z,1765059213.995 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2025-12-06T22:13:33.995Z,1765059213.995 [controlThread](DEBUG): Uninitializing ControlThread
2025-12-06T22:13:33.996Z,1765059213.996 [AHRS_M2](INFO): Powering down
2025-12-06T22:13:34.075Z,1765059214.075 [NAL9602](INFO): Powering down
2025-12-06T22:13:34.147Z,1765059214.147 [RDI_Pathfinder](INFO): Powering down
2025-12-06T22:13:34.148Z,1765059214.148 [Sonardyne_Nano](INFO): Powering down
2025-12-06T22:13:34.351Z,1765059214.351 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2025-12-06T22:13:34.352Z,1765059214.352 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2025-12-06T22:13:34.352Z,1765059214.352 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2025-12-06T22:13:34.353Z,1765059214.353 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2025-12-06T22:13:34.353Z,1765059214.353 [DefaultWithUndock] Stopped
2025-12-06T22:13:34.353Z,1765059214.353 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-12-06T22:13:34.353Z,1765059214.353 [DefaultWithUndock:SurfaceDefault] Stopped
2025-12-06T22:13:34.353Z,1765059214.353 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-12-06T22:13:34.353Z,1765059214.353 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-12-06T22:13:34.353Z,1765059214.353 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-12-06T22:13:34.353Z,1765059214.353 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-12-06T22:13:34.354Z,1765059214.354 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-12-06T22:13:34.354Z,1765059214.354 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-12-06T22:13:34.354Z,1765059214.354 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-12-06T22:13:34.362Z,1765059214.362 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2025-12-06T22:13:34.362Z,1765059214.362 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2025-12-06T22:13:34.362Z,1765059214.362 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2025-12-06T22:13:34.362Z,1765059214.362 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2025-12-06T22:13:34.363Z,1765059214.363 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-12-06T22:13:34.363Z,1765059214.363 [BuoyancyServo](INFO): Powering down
2025-12-06T22:13:34.495Z,1765059214.495 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2025-12-06T22:13:34.495Z,1765059214.495 [ElevatorServo](INFO): Powering down
2025-12-06T22:13:34.496Z,1765059214.496 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-12-06T22:13:34.496Z,1765059214.496 [DockingStepper](INFO): Powering down
2025-12-06T22:13:34.497Z,1765059214.497 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-12-06T22:13:34.497Z,1765059214.497 [MassServo](INFO): Powering down
2025-12-06T22:13:34.498Z,1765059214.498 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-12-06T22:13:34.498Z,1765059214.498 [RudderServo](INFO): Powering down
2025-12-06T22:13:34.499Z,1765059214.499 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-12-06T22:13:34.499Z,1765059214.499 [ThrusterHE](INFO): Powering down
2025-12-06T22:13:34.500Z,1765059214.500 [SBIT](DEBUG): Uninitialize SBIT Component.
2025-12-06T22:13:34.500Z,1765059214.500 [IBIT](DEBUG): Uninitialize IBIT Component.
2025-12-06T22:13:34.500Z,1765059214.500 [CBIT](DEBUG): Uninitialize CBIT Component.
2025-12-06T22:13:34.500Z,1765059214.500 [CBIT](DEBUG): Powering off loads.
2025-12-06T22:13:34.511Z,1765059214.511 [CBIT](DEBUG): Disabling WDT.
2025-12-06T22:13:34.523Z,1765059214.523 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-12-06T22:13:34.523Z,1765059214.523 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-12-06T22:13:34.524Z,1765059214.524 [controlThread ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:34.570Z,1765059214.570 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:34.573Z,1765059214.573 [Onboard ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:34.579Z,1765059214.579 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:34.586Z,1765059214.586 [DAT ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:34.632Z,1765059214.632 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:34.809Z,1765059214.809 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:34.815Z,1765059214.815 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:34.824Z,1765059214.824 [GFScanner](DEBUG): Uninitialize GFScanner component.
2025-12-06T22:13:34.824Z,1765059214.824 [GFScanner](DEBUG): Opening all GF detection circuits.
2025-12-06T22:13:34.839Z,1765059214.839 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2025-12-06T22:13:34.916Z,1765059214.916 [logger ThreadHandler](INFO): Thread cancelled.